In this article we present a tool for professionals who work in care services (24-hour services) with people with a type of dependency and/or developmental disability, such as dementia and/or Alzheimer‘s, intellectual disabilities, autism spectrum disorders etc. Sensory interventions for these people are primarily focused on offering them better quality of life and increased emotional well-being. Sensations are the basis of well-being and are present and functioning in everyone, regardless of their level of dependence. The main challenge for professionals and institutions is to provide the most appropriate intervention to each person and, thereby, ensure a pleasant and enjoyable environment and daily activities that accord with his/her capabilities. It is necessary to start from the most reliable knowledge possible of the sensory capacities, tastes, and sensory preferences of the subject. The article includes practical examples of Sensory Assessments that allow us to elaborate the Sensory Profile of a person, involving every sense (visual, auditory, tactile, proprioceptive, olfactory, gustatory, and vestibular), in order to identify the sensory capacities of the person, his/her tastes, and sensations of displeasure and discomfort. Based on qualitative observational methods, the article provides a practical guide to performing a Sensory Assessment.