diff --git a/cpp/open3d/visualization/gui/BitmapWindowSystem.h b/cpp/open3d/visualization/gui/BitmapWindowSystem.h
index 8b7268630a7..9efa41b42ec 100644
--- a/cpp/open3d/visualization/gui/BitmapWindowSystem.h
+++ b/cpp/open3d/visualization/gui/BitmapWindowSystem.h
@@ -92,6 +92,9 @@ class BitmapWindowSystem : public WindowSystem {
 
     MenuBase* CreateOSMenu() override;
 
+    /// SetFullScreen is a no-op
+    void SetFullScreen(OSWindow, bool) override{};
+
 private:
     struct Impl;
     std::unique_ptr<Impl> impl_;
diff --git a/cpp/open3d/visualization/gui/GLFWWindowSystem.cpp b/cpp/open3d/visualization/gui/GLFWWindowSystem.cpp
index 37f17121007..0bd38d9fb0a 100644
--- a/cpp/open3d/visualization/gui/GLFWWindowSystem.cpp
+++ b/cpp/open3d/visualization/gui/GLFWWindowSystem.cpp
@@ -546,6 +546,20 @@ MenuBase* GLFWWindowSystem::CreateOSMenu() {
 #endif
 }
 
+void GLFWWindowSystem::SetFullScreen(OSWindow w, bool bFullScreen) {
+    if (!bFullScreen) {
+        glfwSetWindowMonitor((GLFWwindow*)w, NULL, win_x_, win_y_, win_width_,
+                             win_height_, GLFW_DONT_CARE);
+    } else {
+        glfwGetWindowSize((GLFWwindow*)w, &win_width_, &win_height_);
+        glfwGetWindowPos((GLFWwindow*)w, &win_x_, &win_y_);
+        GLFWmonitor* monitor = glfwGetPrimaryMonitor();
+        const GLFWvidmode* mode = glfwGetVideoMode(monitor);
+        glfwSetWindowMonitor((GLFWwindow*)w, monitor, 0, 0, mode->width,
+                             mode->height, mode->refreshRate);
+    }
+}
+
 }  // namespace gui
 }  // namespace visualization
 }  // namespace open3d
diff --git a/cpp/open3d/visualization/gui/GLFWWindowSystem.h b/cpp/open3d/visualization/gui/GLFWWindowSystem.h
index a74a37af3e6..2e65184ec8a 100644
--- a/cpp/open3d/visualization/gui/GLFWWindowSystem.h
+++ b/cpp/open3d/visualization/gui/GLFWWindowSystem.h
@@ -70,6 +70,8 @@ class GLFWWindowSystem : public WindowSystem {
 
     MenuBase* CreateOSMenu() override;
 
+    void SetFullScreen(OSWindow w, bool bFullScreen) override;
+
 private:
     static void DrawCallback(GLFWwindow* window);
     static void ResizeCallback(GLFWwindow* window, int os_width, int os_height);
@@ -86,6 +88,11 @@ class GLFWWindowSystem : public WindowSystem {
     static void CharCallback(GLFWwindow* window, unsigned int utf32char);
     static void DragDropCallback(GLFWwindow*, int count, const char* paths[]);
     static void CloseCallback(GLFWwindow* window);
+
+    int win_width_;
+    int win_height_;
+    int win_x_;
+    int win_y_;
 };
 
 }  // namespace gui
diff --git a/cpp/open3d/visualization/gui/Window.cpp b/cpp/open3d/visualization/gui/Window.cpp
index bb023903792..2952272e082 100644
--- a/cpp/open3d/visualization/gui/Window.cpp
+++ b/cpp/open3d/visualization/gui/Window.cpp
@@ -676,6 +676,11 @@ void Window::ShowMenu(bool show) {
     SetNeedsLayout();
 }
 
+void Window::SetFullScreen(bool bFullScreen) {
+    auto& ws = Application::GetInstance().GetWindowSystem();
+    ws.SetFullScreen(GetOSWindow(), bFullScreen);
+}
+
 LayoutContext Window::GetLayoutContext() { return {GetTheme(), impl_->imgui_}; }
 
 void Window::Layout(const LayoutContext& context) {
diff --git a/cpp/open3d/visualization/gui/Window.h b/cpp/open3d/visualization/gui/Window.h
index b186d760699..656e2936aca 100644
--- a/cpp/open3d/visualization/gui/Window.h
+++ b/cpp/open3d/visualization/gui/Window.h
@@ -162,6 +162,8 @@ class Window {
     /// WebRTCWindowSystem.
     std::string GetWebRTCUID() const;
 
+    void SetFullScreen(bool bFullScreen);
+
 protected:
     /// Returns the preferred size of the window. The window is not
     /// obligated to honor this size. If all children of the window
diff --git a/cpp/open3d/visualization/gui/WindowSystem.h b/cpp/open3d/visualization/gui/WindowSystem.h
index 682e732acb7..ab01b0b8108 100644
--- a/cpp/open3d/visualization/gui/WindowSystem.h
+++ b/cpp/open3d/visualization/gui/WindowSystem.h
@@ -85,6 +85,8 @@ class WindowSystem {
                                 rendering::FilamentRenderer* renderer) = 0;
 
     virtual MenuBase* CreateOSMenu() = 0;
+
+    virtual void SetFullScreen(OSWindow w, bool bFullScreen) = 0;
 };
 
 }  // namespace gui
diff --git a/cpp/pybind/visualization/gui/gui.cpp b/cpp/pybind/visualization/gui/gui.cpp
index ed8484c6176..5b84e5dbc59 100644
--- a/cpp/pybind/visualization/gui/gui.cpp
+++ b/cpp/pybind/visualization/gui/gui.cpp
@@ -484,6 +484,9 @@ void pybind_gui_classes(py::module &m) {
                  "show_menu(show): shows or hides the menu in the window, "
                  "except on macOS since the menubar is not in the window "
                  "and all applications must have a menubar.")
+            .def("set_full_screen", &PyWindow::SetFullScreen,
+                 "Make the window fullscreen or reset to previous state.",
+                 "fullscreen"_a = true)
             .def_property_readonly(
                     "renderer", &PyWindow::GetRenderer,
                     "Gets the rendering.Renderer object for the Window");
diff --git a/examples/python/visualization/vis_gui.py b/examples/python/visualization/vis_gui.py
index 3cf28e29684..07a6110a443 100644
--- a/examples/python/visualization/vis_gui.py
+++ b/examples/python/visualization/vis_gui.py
@@ -279,6 +279,11 @@ def __init__(self, width, height):
         h.add_stretch()
         view_ctrls.add_child(h)
 
+        self._fullscreen = gui.Checkbox("Fullscreen")
+        self._fullscreen.set_on_checked(w.set_full_screen)
+        view_ctrls.add_fixed(separation_height)
+        view_ctrls.add_child(self._fullscreen)
+
         self._show_skybox = gui.Checkbox("Show skymap")
         self._show_skybox.set_on_checked(self._on_show_skybox)
         view_ctrls.add_fixed(separation_height)