This article presents a sensory-based relational art therapy approach (S-BRATA) framework for working with children with autism spectrum disorder (ASD) that explicitly addresses sensory integration dysfunction (SID) and impaired attachment. Developed based on three case studies and rooted in grounded theory methodology, the study resulted in seven themes: (1) sense of safety, (2) working with the child's sensory profile, (3) art materials as entry point for engagement, (4) attachment formation through mirroring and attunement, (5) flexibility in approach, (6) structure and boundaries, (7) art product not the focus. As a preliminary framework, S-BRATA extends and develops established concepts into a unified model.