Systems and methods of sidelink configuration, and sidelink transmission are provided. A base station transmits, and correspondingly a user equipment (UE) receives, a UE-specific radio resource control (RRC) signal for indicating a resource pool configuration and a sidelink configured grant (SL CG) configuration. The UE transmits a SL CG transmission using the transmission resource indicated by the SL CG configuration, without the UE receiving, in a downlink control information (DCI), a grant of transmission resources.