The debate about human sexuality is not one that will go away, and Christians must remember that real people "really do have homosexual and bisexual desires", the study Some Issues in Human Sexuality said.
Referring to homosexual, bisexual and transsexual people, it said: "It is likely that they will have encountered misunderstandings or hostility from members of the Christian Church in the past, and, if the Christian gospel is to be meaningful to them, it will need to be incarnated in terms of Christ's love.
"If this is in the context of pastoral care, then that must offer them understanding, support, and unconditional love as they seek to meet the challenges to Christian discipleship that their particular form of sexuality raises."
The guide, published by the Church of England House of Bishops, comes in the wake of the row over the consecration on Sunday of Canon Gene Robinson, an openly gay man, as Bishop of New Hampshire in the US.
His elevation has drawn condemnation from traditionalist Anglican leaders throughout the world and has plunged the 70 million-strong worldwide Anglican Communion into crisis.
The Rt Rev Richard Harries, Bishop of Oxford, who chaired the working party which drew up the guide, said in the foreword that it did not seek to change the statement made in 1991 by the House of Bishops entitled Issues in Human Sexuality.
The document published 12 years ago said heterosexual marriage was the proper context for sexual activity.
It said that homosexuality could not be regarded as an equally valid "expression of God's intention" as heterosexuality, but stressed gay people are not of less value as people who are heterosexual.
And it said that gay people in long-term relationships should not be excluded from the fellowship of the Christian Church, or from Holy Communion, although gay clergy should remain celibate.
The guide outlines the debate in the Anglican Church and sets out the arguments and the use of the Bible in determining sexual ethics.