This study compared the sexual reproductive health and rights related knowledge and attitudes towards inclusive gender norms among students in comprehensive sexuality education (CSE) exposed and naïve technical and vocational centers in Lagos state, Nigeria. It also explored the benefits of teaching and learning about CSE from exposed students and their instructors. A mixed-method research design was used. The study population comprised of students 15-24 years of age attending technical and vocational centers in Lagos State and instructors in CSE-exposed centres. Sample size of 450 per group was calculated. A structured interviewer-administered questionnaire; focus group discussions and key informant interviews were used for data collection. Quantitative data was analyzed at p<0.05; coding and thematic analysis of qualitative data was followed by integration and of the findings; and interpreted using the information-motivation-behavioural skills model. Students in CSE-exposed schools had statistically significantly higher SRHR-related knowledge scores and positive attitudes towards inclusive gender norms. The CSE training improved the educational knowledge and teaching modalities of the instructors. The adolescents had increased knowledge, acquired behavioural skills, and changed certain behaviors. The SRHR-related benefits extended to their siblings and friends. This study contributes to the knowledge available on the benefits of CSE for young people in non-formal settings in Nigeria. It revealed that CSE training benefits not only the students but also their instructors, who reported acquisition of new teaching skills and improved parenting skills. The study findings suggest that the integration of CSE into non-formal educational settings could improve the SRHR- related knowledge among young people, promote inclusive gender norms and potentially contribute to improved SRH outcomes and related SDGs in Nigeria.