diff --git a/homeassistant/components/sleepiq/__init__.py b/homeassistant/components/sleepiq/__init__.py
index da3f38fe560..17370d1b463 100644
--- a/homeassistant/components/sleepiq/__init__.py
+++ b/homeassistant/components/sleepiq/__init__.py
@@ -30,6 +30,7 @@ PLATFORMS = [
     Platform.BINARY_SENSOR,
     Platform.BUTTON,
     Platform.LIGHT,
+    Platform.NUMBER,
     Platform.SENSOR,
     Platform.SWITCH,
 ]
diff --git a/homeassistant/components/sleepiq/const.py b/homeassistant/components/sleepiq/const.py
index c1c28a7b5a8..2aabf29ef54 100644
--- a/homeassistant/components/sleepiq/const.py
+++ b/homeassistant/components/sleepiq/const.py
@@ -2,18 +2,19 @@
 
 DATA_SLEEPIQ = "data_sleepiq"
 DOMAIN = "sleepiq"
-SLEEPYQ_INVALID_CREDENTIALS_MESSAGE = "username or password"
 
 BED = "bed"
+FIRMNESS = "firmness"
 ICON_EMPTY = "mdi:bed-empty"
 ICON_OCCUPIED = "mdi:bed"
 IS_IN_BED = "is_in_bed"
-SLEEP_NUMBER = "sleep_number"
 PRESSURE = "pressure"
+SLEEP_NUMBER = "sleep_number"
 SENSOR_TYPES = {
-    SLEEP_NUMBER: "SleepNumber",
-    IS_IN_BED: "Is In Bed",
+    FIRMNESS: "Firmness",
     PRESSURE: "Pressure",
+    IS_IN_BED: "Is In Bed",
+    SLEEP_NUMBER: "SleepNumber",
 }
 
 LEFT = "left"
diff --git a/homeassistant/components/sleepiq/number.py b/homeassistant/components/sleepiq/number.py
new file mode 100644
index 00000000000..39140b51a5b
--- /dev/null
+++ b/homeassistant/components/sleepiq/number.py
@@ -0,0 +1,55 @@
+"""Support for SleepIQ SleepNumber firmness number entities."""
+from asyncsleepiq import SleepIQBed, SleepIQSleeper
+
+from homeassistant.components.number import NumberEntity
+from homeassistant.config_entries import ConfigEntry
+from homeassistant.core import HomeAssistant, callback
+from homeassistant.helpers.entity_platform import AddEntitiesCallback
+from homeassistant.helpers.update_coordinator import DataUpdateCoordinator
+
+from .const import DOMAIN, FIRMNESS
+from .coordinator import SleepIQData
+from .entity import SleepIQSleeperEntity
+
+
+async def async_setup_entry(
+    hass: HomeAssistant,
+    entry: ConfigEntry,
+    async_add_entities: AddEntitiesCallback,
+) -> None:
+    """Set up the SleepIQ bed sensors."""
+    data: SleepIQData = hass.data[DOMAIN][entry.entry_id]
+    async_add_entities(
+        SleepNumberFirmnessEntity(data.data_coordinator, bed, sleeper)
+        for bed in data.client.beds.values()
+        for sleeper in bed.sleepers
+    )
+
+
+class SleepNumberFirmnessEntity(SleepIQSleeperEntity, NumberEntity):
+    """Representation of an SleepIQ Entity with CoordinatorEntity."""
+
+    _attr_icon = "mdi:bed"
+    _attr_max_value: float = 100
+    _attr_min_value: float = 5
+    _attr_step: float = 5
+
+    def __init__(
+        self,
+        coordinator: DataUpdateCoordinator,
+        bed: SleepIQBed,
+        sleeper: SleepIQSleeper,
+    ) -> None:
+        """Initialize the sensor."""
+        super().__init__(coordinator, bed, sleeper, FIRMNESS)
+
+    @callback
+    def _async_update_attrs(self) -> None:
+        """Update sensor attributes."""
+        self._attr_value = float(self.sleeper.sleep_number)
+
+    async def async_set_value(self, value: float) -> None:
+        """Set the firmness value."""
+        await self.sleeper.set_sleepnumber(int(value))
+        self._attr_value = value
+        self.async_write_ha_state()
diff --git a/tests/components/sleepiq/test_number.py b/tests/components/sleepiq/test_number.py
new file mode 100644
index 00000000000..f00bef2b4cb
--- /dev/null
+++ b/tests/components/sleepiq/test_number.py
@@ -0,0 +1,68 @@
+"""The tests for SleepIQ number platform."""
+from homeassistant.components.number import DOMAIN
+from homeassistant.components.number.const import ATTR_VALUE, SERVICE_SET_VALUE
+from homeassistant.const import ATTR_ENTITY_ID, ATTR_FRIENDLY_NAME, ATTR_ICON
+from homeassistant.helpers import entity_registry as er
+
+from tests.components.sleepiq.conftest import (
+    BED_ID,
+    BED_NAME,
+    BED_NAME_LOWER,
+    SLEEPER_L_NAME,
+    SLEEPER_L_NAME_LOWER,
+    SLEEPER_R_NAME,
+    SLEEPER_R_NAME_LOWER,
+    setup_platform,
+)
+
+
+async def test_firmness(hass, mock_asyncsleepiq):
+    """Test the SleepIQ firmness number values for a bed with two sides."""
+    entry = await setup_platform(hass, DOMAIN)
+    entity_registry = er.async_get(hass)
+
+    state = hass.states.get(
+        f"number.sleepnumber_{BED_NAME_LOWER}_{SLEEPER_L_NAME_LOWER}_firmness"
+    )
+    assert state.state == "40.0"
+    assert state.attributes.get(ATTR_ICON) == "mdi:bed"
+    assert (
+        state.attributes.get(ATTR_FRIENDLY_NAME)
+        == f"SleepNumber {BED_NAME} {SLEEPER_L_NAME} Firmness"
+    )
+
+    entry = entity_registry.async_get(
+        f"number.sleepnumber_{BED_NAME_LOWER}_{SLEEPER_L_NAME_LOWER}_firmness"
+    )
+    assert entry
+    assert entry.unique_id == f"{BED_ID}_{SLEEPER_L_NAME}_firmness"
+
+    state = hass.states.get(
+        f"number.sleepnumber_{BED_NAME_LOWER}_{SLEEPER_R_NAME_LOWER}_firmness"
+    )
+    assert state.state == "80.0"
+    assert state.attributes.get(ATTR_ICON) == "mdi:bed"
+    assert (
+        state.attributes.get(ATTR_FRIENDLY_NAME)
+        == f"SleepNumber {BED_NAME} {SLEEPER_R_NAME} Firmness"
+    )
+
+    entry = entity_registry.async_get(
+        f"number.sleepnumber_{BED_NAME_LOWER}_{SLEEPER_R_NAME_LOWER}_firmness"
+    )
+    assert entry
+    assert entry.unique_id == f"{BED_ID}_{SLEEPER_R_NAME}_firmness"
+
+    await hass.services.async_call(
+        DOMAIN,
+        SERVICE_SET_VALUE,
+        {
+            ATTR_ENTITY_ID: f"number.sleepnumber_{BED_NAME_LOWER}_{SLEEPER_L_NAME_LOWER}_firmness",
+            ATTR_VALUE: 42,
+        },
+        blocking=True,
+    )
+    await hass.async_block_till_done()
+
+    mock_asyncsleepiq.beds[BED_ID].sleepers[0].set_sleepnumber.assert_called_once()
+    mock_asyncsleepiq.beds[BED_ID].sleepers[0].set_sleepnumber.assert_called_with(42)