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As artificial intelligence (AI) becomes prevalent in our society, it is important to integrate AI-related content into the K-12 curriculum. However, a framework that guides the design of inclusive AI learning opportunities for all students is lacking. This paper proposes a framework to guide the design of inclusive AI learning rooted in Universal Design for Learning principles. We conducted a systematic literature review on AI learning-related frameworks. Then, we synthesized them to develop a novel framework, which features the core components of AI learning and is anchored by the three UDL principles (i.e., the “why,” “what,” and “how” of learning). We anticipate this study will support the design and implementation of inclusive AI learning experiences across the curriculum.