We study finding and listing $k$-cliques in a graph, for constant $k\geq 3$, a fundamental problem of both theoretical and practical importance. Our main contribution is a new output-sensitive algorithm for listing $k$-cliques in graphs, for arbitrary $k\geq 3$, coupled with lower bounds based on standard fine-grained assumptions, showing that our algorithm's running time is tight. Previously, the only known conditionally optimal output-sensitive algorithms were for the case of $3$-cliques by Björklund, Pagh, Vassilevska W. and Zwick [ICALP'14]. Typical inputs to subgraph isomorphism or listing problems are measured by the number of nodes $n$ or the number of edges $m$. Our framework is very general in that it gives $k$-clique listing algorithms whose running times are measured in terms of the number of $\ell$-cliques $Δ_\ell$ in the graph for any $1\leq \ell

48 pages, 5 figures