Intervention services positively impact outcomes of children with autism spectrum disorder (ASD) and their families. However, families face many burdens when accessing high-quality intervention services such as availability of providers, time, and cost; these burdens are often magnified for underserved families. Therefore, the purpose of this study was to investigate the acceptability (n = 17) and cost-effectiveness (n = 18) of a 12-week telehealth intervention among families of young children with ASD. To understand the acceptability of the intervention, caregivers completed a questionnaire about the process and content of the intervention. We then used descriptive statistics to calculate estimated cost differences between a Clinic-based Model, an InHome Model, and a Telehealth Model. Results suggest that families found the intervention highly acceptable and effective, and telehealth would result in exponential savings for both families and providers. Telehealth provides a promising method for serving an increased number of families, particularly those in underserved and rural areas.