Continuously variable transmission includes a set of pulleys, each pulley comprising two discs arranged relatively axially moveable on a central pulley shaft for clamping a transmission belt. The belt includes a continuous array of transverse elements, each having lateral pulley contact surfaces for contacting the belt contact surface of each of the pulley discs, and being provided slideably on an endless tensile element of the belt. Each pulley has a mechanical stiffness as incorporated in the transmission and a stiffness related feature of a pulley when expressed as a parameter Sag that indicates an amount of radial displacement of the belt between the discs in the transmission, occurring in response to imposing a maximum amount of axial force Fax during operation of the transmission, relative to a radial position of the belt in an unloaded state of the transmission, amounts to less than 1.2 mm but more than 0.5 mm.