diff --git a/tutorials/04_messages.md b/tutorials/04_messages.md
index 4252e5b5f..672322d6b 100644
--- a/tutorials/04_messages.md
+++ b/tutorials/04_messages.md
@@ -224,8 +224,12 @@ cd build
 Run `cmake` and build the code.
 
 ```{.sh}
+# Linux and MacOS
 cmake ..
 make publisher subscriber
+
+# Windows
+cmake --build . --config Release
 ```
 
 ## Running the examples
@@ -235,13 +239,21 @@ Open two new terminals and from your `build/` directory run the executables.
 From terminal 1:
 
 ```{.sh}
+# Linux and MacOS
 ./publisher
+
+# Windows
+.\Release\publisher.exe
 ```
 
 From terminal 2:
 
 ```{.sh}
+# Linux and MacOS
 ./subscriber
+
+# Windows
+.\Release\subscriber.exe
 ```
 
 In your subscriber terminal, you should expect an output similar to this one,
@@ -438,20 +450,33 @@ Run `cmake` and build the example:
 
 ```{.sh}
 cd build
+
+# Linux and MacOS
 cmake ..
 make subscriber_generic
+
+# Windows
+cmake --build . --config Release
 ```
 
 From terminal 1:
 
 ```{.sh}
+# Linux and MacOS
 ./publisher
+
+# Windows
+.\Release\publisher.exe
 ```
 
 From terminal 2:
 
 ```{.sh}
+# Linux and MacOS
 ./subscriber_generic
+
+# Windows
+.\Release\subscriber_generic.exe
 ```
 
 ## Using custom Protobuf messages
@@ -543,20 +568,33 @@ Run `cmake` and build the example:
 
 ```{.sh}
 cd build
+
+# Linux and MacOS
 cmake ..
 make
+
+# Windows
+cmake --build . --config Release
 ```
 
 From terminal 1:
 
 ```{.sh}
+# Linux and MacOS
 ./publisher_custom_msg
+
+# Windows
+.\Release\publisher_custom_msg.exe
 ```
 
 From terminal 2:
 
 ```{.sh}
+# Linux and MacOS
 ./subscriber_custom_msg
+
+# Windows
+.\Release\subscriber_custom_msg.exe
 ```
 
 ## Topic remapping
@@ -585,7 +623,11 @@ You can modify any of the publisher examples to add this option.
 From terminal 1:
 
 ```{.sh}
+# Linux and MacOS
 ./publisher
+
+# Windows
+.\Release\publisher.exe
 ```
 
 From terminal 2 (requires Gazebo Tools):
diff --git a/tutorials/05_services.md b/tutorials/05_services.md
index 8417bf305..965586538 100644
--- a/tutorials/05_services.md
+++ b/tutorials/05_services.md
@@ -598,9 +598,13 @@ cd build
 Run ``cmake`` and build the code.
 
 ```{.sh}
+# Linux and MacOS
 cmake ..
 make responser responser_oneway requester requester_async requester_oneway
 make responser_no_input requester_no_input requester_async_no_input
+
+# Windows
+cmake --build . --config Release
 ```
 
 ## Running the examples
@@ -610,19 +614,31 @@ Open three new terminals and from your ``build/`` directory run the executables.
 From terminal 1:
 
 ```{.sh}
+# Linux and MacOS
 ./responser
+
+# Windows
+.\Release\responser.exe
 ```
 
 From terminal 2:
 
 ```{.sh}
+# Linux and MacOS
 ./requester
+
+# Windows
+.\Release\requester.exe
 ```
 
 From terminal 3:
 
 ```{.sh}
+# Linux and MacOS
 ./requester_async
+
+# Windows
+.\Release\requester_async.exe
 ```
 
 In your requester terminals, you should expect an output similar to this one,
@@ -651,14 +667,22 @@ From terminal 1:
 From terminal 2:
 
 ```{.sh}
+# Linux and MacOS
 ./requester_oneway
+
+# Windows
+.\Release\requester_oneway.exe
 ```
 
 In your responser terminal, you should expect an output similar to this one,
 showing that your service provider has received a request:
 
 ```{.sh}
-$ ./responser_oneway
+# Linux and MacOS
+./responser_oneway
+
+# Windows
+.\Release\responser_oneway.exe
 Request received: [HELLO]
 ```
 
@@ -668,26 +692,43 @@ For running the examples without input, open three terminals and from your
 From terminal 1:
 
 ```{.sh}
+# Linux and MacOS
 ./responser_no_input
+
+# Windows
+.\Release\responser_no_input.exe
 ```
 
 From terminal 2:
 
 ```{.sh}
+# Linux and MacOS
 ./requester_no_input
+
+# Windows
+.\Release\requester_no_input.exe
 ```
 
 From terminal 3:
 
 ```{.sh}
+# Linux and MacOS
 ./requester_async_no_input
+
+# Windows
+.\Release\requester_async_no_input.exe
 ```
 
 In your requesters' terminals, you should expect an output similar to this one,
 showing that you have received a response:
 
 ```{.sh}
-$ ./requester_no_input
+# Linux and MacOS
+./requester_no_input
+
+# Windows
+.\Release\requester_no_input.exe
+
 Press <CTRL-C> to exit
 Response: [This is it! This is the answer. It says here...that a bolt of
 lightning is going to strike the clock tower at precisely 10:04pm, next
diff --git a/tutorials/06_security.md b/tutorials/06_security.md
index efc37a5e0..69bad0210 100644
--- a/tutorials/06_security.md
+++ b/tutorials/06_security.md
@@ -28,7 +28,7 @@ either use, or not use, authentication.
 Two environment variables are used to enable authentications:
 
 1. `GZ_TRANSPORT_USERNAME` : The username
-2. `GZ_TRANSPORT_PASSWORD` : The password 
+2. `GZ_TRANSPORT_PASSWORD` : The password
 
 When both `GZ_TRANSPORT_USERNAME` and `GZ_TRANSPORT_PASSWORD` are set,
 the authentication is enabled for a process. Every publisher in a secure
@@ -58,8 +58,13 @@ Now let's try a secure publisher and an unsecure subscriber.
 1. Leave the first terminal running `gz topic -t /foo -e`.
 2. Setup authentication in the second terminal:
 ```
+# Linux and MacOS
 export GZ_TRANSPORT_USERNAME=user
 export GZ_TRANSPORT_PASSWORD=pass
+
+# Windows
+set GZ_TRANSPORT_USERNAME=user
+set GZ_TRANSPORT_PASSWORD=pass
 ```
 3. Now publish a message in the second terminal:
 ```
@@ -72,8 +77,13 @@ Finally, let's create secure subscriber.
 
 1. Open a third terminal, and setup authentication in that terminal.
 ```
+# Linux and MacOS
 export GZ_TRANSPORT_USERNAME=user
 export GZ_TRANSPORT_PASSWORD=pass
+
+# Windows
+set GZ_TRANSPORT_USERNAME=user
+set GZ_TRANSPORT_PASSWORD=pass
 ```
 2. Echo the `/foo` topic in the secure third terminal.
 ```
diff --git a/tutorials/10_logging.md b/tutorials/10_logging.md
index 0b09fca89..c2de0e48d 100644
--- a/tutorials/10_logging.md
+++ b/tutorials/10_logging.md
@@ -228,8 +228,12 @@ cd build
 Run `cmake` and build the code.
 
 ```{.sh}
+# Linux and MacOS
 cmake ..
 make
+
+# Windows
+cmake --build . --config Release
 ```
 
 ## Running the examples
@@ -239,7 +243,12 @@ Open two new terminals and from your `build/` directory run the recorder.
 From terminal 1:
 
 ```{.sh}
+# Linux and MacOS
 ./log_record tutorial.tlog
+
+# Windows
+.\Release\log_record.exe tutorial.tlog
+
 Press Ctrl+C to finish recording.
   Recording...
 ```
@@ -261,7 +270,11 @@ gz topic -t /foo -e
 And from terminal 1, playback your log file:
 
 ```{.sh}
+# Linux and MacOS
 ./log_playback tutorial.tlog
+
+# Windows
+.\Release\log_playback.exe tutorial.tlog
 ```
 
 You should receive one message in terminal 2: