Linear waveguides in photonic-crystal slabs, two-dimensionally periodic dielectric structures of finite height, are fundamentally different from waveguides in two-dimensional photonic crystals. The most important distinctions arise from the fact that photonic-crystal slab waveguides must be index-confined in the vertical direction ~while a band gap confines them horizontally!. We present a systematic analysis of different families of waveguides in photonic-crystal slabs, and illustrate the considerations that must be applied to achieve single-mode guided bands in these systems. In this way, the unusual features of photonic-crystal waveguides can be realized in three dimensions without the fabrication complexity required by photonic crystals with complete three-dimensional band gaps.