diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 20120dce..c1c82241 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -13,11 +13,12 @@ and this project adheres to `Semantic Versioning <https://semver.org/spec/v2.0.0
 Changed
 -------
 - Improved error messages when failing to get services in WinRT backend.
+- Made ``BleakScanner`` an async iterator, added ``BleakScanner.devices()`` async iterator method.
 
 Fixed
 -----
 - Fix handling all access denied errors when enumerating characteristics on Windows. Fixes #1291.
-- Added support for 32bit UUIDs. Fixes #1314 
+- Added support for 32bit UUIDs. Fixes #1314
 
 `0.20.2`_ (2023-04-19)
 ======================
diff --git a/bleak/__init__.py b/bleak/__init__.py
index aef9e976..be870a3f 100644
--- a/bleak/__init__.py
+++ b/bleak/__init__.py
@@ -27,6 +27,7 @@
     Type,
     Union,
     overload,
+    AsyncIterator,
 )
 from warnings import warn
 
@@ -148,12 +149,12 @@ def __init__(
             **kwargs,
         )
 
-    async def __aenter__(self):
-        await self._backend.start()
+    async def __aenter__(self) -> "BleakScanner":
+        await self.start()
         return self
 
     async def __aexit__(self, exc_type, exc_val, exc_tb):
-        await self._backend.stop()
+        await self.stop()
 
     def register_detection_callback(
         self, callback: Optional[AdvertisementDataCallback]
@@ -184,6 +185,7 @@ async def start(self):
     async def stop(self):
         """Stop scanning for devices"""
         await self._backend.stop()
+        self._backend.new_devices = None
 
     def set_scanning_filter(self, **kwargs):
         """
@@ -204,6 +206,55 @@ def set_scanning_filter(self, **kwargs):
         )
         self._backend.set_scanning_filter(**kwargs)
 
+    def __aiter__(self) -> AsyncIterator[Tuple[BLEDevice, AdvertisementData]]:
+        self._backend.new_devices = asyncio.Queue()
+        return self
+
+    async def __anext__(self) -> Tuple[BLEDevice, AdvertisementData]:
+        return await self._backend.new_devices.get()
+
+    @overload
+    def devices(
+        self, timeout: Optional[float] = None, return_adv: Literal[False] = False
+    ) -> AsyncIterator[BLEDevice]:
+        ...
+
+    @overload
+    def devices(
+        self, timeout: Optional[float] = None, return_adv: Literal[True] = True
+    ) -> AsyncIterator[Tuple[BLEDevice, AdvertisementData]]:
+        ...
+
+    async def devices(self, timeout: Optional[float] = None, return_adv: bool = False):
+        """
+        Continuously scan for devices and yield them.
+
+        Args:
+            timeout:
+                The maximum duration, in seconds, to scan for each individual device.
+                This is not a total scan duration. Each invocation of ``next()`` will
+                wait for up to ``timeout`` seconds for a new device to be discovered
+                before stopping the iteration.
+            return_adv:
+                If ``True``, the return value will also include advertising data.
+
+        Returns:
+            An async iterator that yields instances of :class:`BLEDevice` if ``return_adv``
+            parameter is ``False`` or tuple of (:class:`BLEDevice`, :class:`AdvertisementData`)
+            if the parameter is ``True``.
+        """
+        self._backend.new_devices = asyncio.Queue()
+        while True:
+            try:
+                bd, ad = await asyncio.wait_for(
+                    self._backend.new_devices.get(), timeout=timeout
+                )
+                yield (bd, ad) if return_adv else bd
+            except asyncio.TimeoutError:
+                break
+            finally:
+                self._backend.new_devices = None
+
     @overload
     @classmethod
     async def discover(
@@ -360,16 +411,12 @@ async def find_device_by_filter(
             the timeout.
 
         """
-        found_device_queue: asyncio.Queue[BLEDevice] = asyncio.Queue()
-
-        def apply_filter(d: BLEDevice, ad: AdvertisementData):
-            if filterfunc(d, ad):
-                found_device_queue.put_nowait(d)
-
-        async with cls(detection_callback=apply_filter, **kwargs):
+        async with cls(**kwargs) as scanner:
             try:
                 async with async_timeout(timeout):
-                    return await found_device_queue.get()
+                    async for d, ad in scanner:
+                        if filterfunc(d, ad):
+                            return d
             except asyncio.TimeoutError:
                 return None
 
diff --git a/bleak/backends/scanner.py b/bleak/backends/scanner.py
index 0ae33641..d13ea743 100644
--- a/bleak/backends/scanner.py
+++ b/bleak/backends/scanner.py
@@ -141,6 +141,9 @@ def __init__(
         )
 
         self.seen_devices = {}
+        self.new_devices: Optional[
+            asyncio.Queue[Tuple[BLEDevice, AdvertisementData]]
+        ] = None
 
     def register_detection_callback(
         self, callback: Optional[AdvertisementDataCallback]
@@ -215,7 +218,10 @@ def create_or_update_device(
                 **metadata,
             )
 
-        self.seen_devices[address] = (device, adv)
+        dev = (device, adv)
+        self.seen_devices[address] = dev
+        if self.new_devices:
+            self.new_devices.put_nowait(dev)
 
         return device
 
diff --git a/examples/scan_iterator.py b/examples/scan_iterator.py
new file mode 100644
index 00000000..91a203c1
--- /dev/null
+++ b/examples/scan_iterator.py
@@ -0,0 +1,35 @@
+"""
+Scan/Discovery Async Iterator
+--------------
+
+Example showing how to scan for BLE devices using async iterator instead of callback function
+
+Created on 2023-07-27 by bojanpotocnik <info@bojanpotocnik.com>
+
+"""
+import asyncio
+
+from bleak import BleakScanner
+
+
+async def main():
+    x = 5
+    print(f"Scanning for {x} devices...")
+    async with BleakScanner() as scanner:
+        async for bd, ad in scanner:
+            print(f"{x}. {bd!r} with {ad!r}")
+            x -= 1
+            if x == 0:
+                break
+
+    x = 6
+    print(f"\nScanning for a device with name longer than {x} characters...")
+    async with BleakScanner() as scanner:
+        async for bd, ad in scanner.devices(timeout=10, return_adv=True):
+            print(f"Found{' it' if len(bd.name) > x else ''} {bd!r} with {ad!r}")
+            if len(bd.name or "") > x or len(ad.local_name or "") > x:
+                break
+
+
+if __name__ == "__main__":
+    asyncio.run(main())