diff --git a/src/cli/BUILD.gn b/src/cli/BUILD.gn
index 318a4d0b9..b74577af1 100644
--- a/src/cli/BUILD.gn
+++ b/src/cli/BUILD.gn
@@ -55,8 +55,6 @@ openthread_cli_sources = [
   "cli_mac_filter.hpp",
   "cli_network_data.cpp",
   "cli_network_data.hpp",
-  "cli_output.cpp",
-  "cli_output.hpp",
   "cli_ping.cpp",
   "cli_ping.hpp",
   "cli_srp_client.cpp",
@@ -67,6 +65,8 @@ openthread_cli_sources = [
   "cli_tcp.hpp",
   "cli_udp.cpp",
   "cli_udp.hpp",
+  "cli_utils.cpp",
+  "cli_utils.hpp",
   "x509_cert_key.hpp",
 ]
 
diff --git a/src/cli/CMakeLists.txt b/src/cli/CMakeLists.txt
index f36439f26..9dfee4030 100644
--- a/src/cli/CMakeLists.txt
+++ b/src/cli/CMakeLists.txt
@@ -45,13 +45,13 @@ set(COMMON_SOURCES
     cli_link_metrics.cpp
     cli_mac_filter.cpp
     cli_network_data.cpp
-    cli_output.cpp
     cli_ping.cpp
     cli_srp_client.cpp
     cli_srp_server.cpp
     cli_tcat.cpp
     cli_tcp.cpp
     cli_udp.cpp
+    cli_utils.cpp
 )
 
 set(OT_CLI_VENDOR_EXTENSION "" CACHE STRING "Path to CMake file to define and link cli vendor extension")
diff --git a/src/cli/cli.cpp b/src/cli/cli.cpp
index 5f5642e15..28de72475 100644
--- a/src/cli/cli.cpp
+++ b/src/cli/cli.cpp
@@ -99,7 +99,7 @@ static OT_DEFINE_ALIGNED_VAR(sInterpreterRaw, sizeof(Interpreter), uint64_t);
 
 Interpreter::Interpreter(Instance *aInstance, otCliOutputCallback aCallback, void *aContext)
     : OutputImplementer(aCallback, aContext)
-    , Output(aInstance, *this)
+    , Utils(aInstance, *this)
     , mCommandIsPending(false)
     , mInternalDebugCommand(false)
     , mTimer(*aInstance, HandleTimer, this)
@@ -337,7 +337,7 @@ void Interpreter::ProcessLine(char *aBuf)
         VerifyOrExit(StringLength(aBuf, kMaxLineLength) <= kMaxLineLength - 1, error = OT_ERROR_PARSE);
     }
 
-    SuccessOrExit(error = Utils::CmdLineParser::ParseCmd(aBuf, args, kMaxArgs));
+    SuccessOrExit(error = ot::Utils::CmdLineParser::ParseCmd(aBuf, args, kMaxArgs));
     VerifyOrExit(!args[0].IsEmpty(), mCommandIsPending = false);
 
     if (!mInternalDebugCommand)
@@ -408,26 +408,6 @@ otError Interpreter::SetUserCommands(const otCliCommand *aCommands, uint8_t aLen
     return error;
 }
 
-otError Interpreter::ParseEnableOrDisable(const Arg &aArg, bool &aEnable)
-{
-    otError error = OT_ERROR_NONE;
-
-    if (aArg == "enable")
-    {
-        aEnable = true;
-    }
-    else if (aArg == "disable")
-    {
-        aEnable = false;
-    }
-    else
-    {
-        error = OT_ERROR_INVALID_COMMAND;
-    }
-
-    return error;
-}
-
 #if OPENTHREAD_FTD || OPENTHREAD_MTD
 
 otError Interpreter::ParseJoinerDiscerner(Arg &aArg, otJoinerDiscerner &aDiscerner)
@@ -441,7 +421,7 @@ otError Interpreter::ParseJoinerDiscerner(Arg &aArg, otJoinerDiscerner &aDiscern
 
     VerifyOrExit(separator != nullptr, error = OT_ERROR_NOT_FOUND);
 
-    SuccessOrExit(error = Utils::CmdLineParser::ParseAsUint8(separator + 1, aDiscerner.mLength));
+    SuccessOrExit(error = ot::Utils::CmdLineParser::ParseAsUint8(separator + 1, aDiscerner.mLength));
     VerifyOrExit(aDiscerner.mLength > 0 && aDiscerner.mLength <= 64, error = OT_ERROR_INVALID_ARGS);
     *separator = '\0';
     error      = aArg.ParseAsUint64(aDiscerner.mValue);
@@ -8325,76 +8305,6 @@ void Interpreter::Initialize(otInstance *aInstance, otCliOutputCallback aCallbac
     Interpreter::sInterpreter = new (&sInterpreterRaw) Interpreter(instance, aCallback, aContext);
 }
 
-otError Interpreter::ProcessEnableDisable(Arg aArgs[], SetEnabledHandler aSetEnabledHandler)
-{
-    otError error = OT_ERROR_NONE;
-    bool    enable;
-
-    if (ParseEnableOrDisable(aArgs[0], enable) == OT_ERROR_NONE)
-    {
-        aSetEnabledHandler(GetInstancePtr(), enable);
-    }
-    else
-    {
-        error = OT_ERROR_INVALID_COMMAND;
-    }
-
-    return error;
-}
-
-otError Interpreter::ProcessEnableDisable(Arg aArgs[], SetEnabledHandlerFailable aSetEnabledHandler)
-{
-    otError error = OT_ERROR_NONE;
-    bool    enable;
-
-    if (ParseEnableOrDisable(aArgs[0], enable) == OT_ERROR_NONE)
-    {
-        error = aSetEnabledHandler(GetInstancePtr(), enable);
-    }
-    else
-    {
-        error = OT_ERROR_INVALID_COMMAND;
-    }
-
-    return error;
-}
-
-otError Interpreter::ProcessEnableDisable(Arg               aArgs[],
-                                          IsEnabledHandler  aIsEnabledHandler,
-                                          SetEnabledHandler aSetEnabledHandler)
-{
-    otError error = OT_ERROR_NONE;
-
-    if (aArgs[0].IsEmpty())
-    {
-        OutputEnabledDisabledStatus(aIsEnabledHandler(GetInstancePtr()));
-    }
-    else
-    {
-        error = ProcessEnableDisable(aArgs, aSetEnabledHandler);
-    }
-
-    return error;
-}
-
-otError Interpreter::ProcessEnableDisable(Arg                       aArgs[],
-                                          IsEnabledHandler          aIsEnabledHandler,
-                                          SetEnabledHandlerFailable aSetEnabledHandler)
-{
-    otError error = OT_ERROR_NONE;
-
-    if (aArgs[0].IsEmpty())
-    {
-        OutputEnabledDisabledStatus(aIsEnabledHandler(GetInstancePtr()));
-    }
-    else
-    {
-        error = ProcessEnableDisable(aArgs, aSetEnabledHandler);
-    }
-
-    return error;
-}
-
 void Interpreter::OutputPrompt(void)
 {
 #if OPENTHREAD_CONFIG_CLI_PROMPT_ENABLE
diff --git a/src/cli/cli.hpp b/src/cli/cli.hpp
index 8cb53f4a3..75ea62975 100644
--- a/src/cli/cli.hpp
+++ b/src/cli/cli.hpp
@@ -68,13 +68,13 @@
 #include "cli/cli_link_metrics.hpp"
 #include "cli/cli_mac_filter.hpp"
 #include "cli/cli_network_data.hpp"
-#include "cli/cli_output.hpp"
 #include "cli/cli_ping.hpp"
 #include "cli/cli_srp_client.hpp"
 #include "cli/cli_srp_server.hpp"
 #include "cli/cli_tcat.hpp"
 #include "cli/cli_tcp.hpp"
 #include "cli/cli_udp.hpp"
+#include "cli/cli_utils.hpp"
 #if OPENTHREAD_CONFIG_COAP_API_ENABLE
 #include "cli/cli_coap.hpp"
 #endif
@@ -108,7 +108,7 @@ extern "C" void otCliOutputFormat(const char *aFmt, ...);
  * Implements the CLI interpreter.
  *
  */
-class Interpreter : public OutputImplementer, public Output
+class Interpreter : public OutputImplementer, public Utils
 {
 #if OPENTHREAD_FTD || OPENTHREAD_MTD
     friend class Br;
@@ -128,8 +128,6 @@ class Interpreter : public OutputImplementer, public Output
     friend void otCliOutputFormat(const char *aFmt, ...);
 
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
@@ -178,19 +176,6 @@ public:
      */
     void ProcessLine(char *aBuf);
 
-    /**
-     * Checks a given argument string against "enable" or "disable" commands.
-     *
-     * @param[in]  aArg     The argument string to parse.
-     * @param[out] aEnable  Boolean variable to return outcome on success.
-     *                      Set to TRUE for "enable" command, and FALSE for "disable" command.
-     *
-     * @retval OT_ERROR_NONE             Successfully parsed the @p aString and updated @p aEnable.
-     * @retval OT_ERROR_INVALID_COMMAND  The @p aString is not "enable" or "disable" command.
-     *
-     */
-    static otError ParseEnableOrDisable(const Arg &aArg, bool &aEnable);
-
     /**
      * Adds commands to the user command table.
      *
@@ -289,94 +274,6 @@ private:
 
     using Command = CommandEntry<Interpreter>;
 
-    template <typename ValueType> using GetHandler         = ValueType (&)(otInstance *);
-    template <typename ValueType> using SetHandler         = void (&)(otInstance *, ValueType);
-    template <typename ValueType> using SetHandlerFailable = otError (&)(otInstance *, ValueType);
-    using IsEnabledHandler                                 = bool (&)(otInstance *);
-    using SetEnabledHandler                                = void (&)(otInstance *, bool);
-    using SetEnabledHandlerFailable                        = otError (&)(otInstance *, bool);
-
-    // Returns format string to output a `ValueType` (e.g., "%u" for `uint16_t`).
-    template <typename ValueType> static constexpr const char *FormatStringFor(void);
-
-    // General template implementation.
-    // Specializations for `uint32_t` and `int32_t` are added at the end.
-    template <typename ValueType> otError ProcessGet(Arg aArgs[], GetHandler<ValueType> aGetHandler)
-    {
-        static_assert(
-            TypeTraits::IsSame<ValueType, uint8_t>::kValue || TypeTraits::IsSame<ValueType, uint16_t>::kValue ||
-                TypeTraits::IsSame<ValueType, int8_t>::kValue || TypeTraits::IsSame<ValueType, int16_t>::kValue ||
-                TypeTraits::IsSame<ValueType, const char *>::kValue,
-            "ValueType must be an  8, 16 `int` or `uint` type, or a `const char *`");
-
-        otError error = OT_ERROR_NONE;
-
-        VerifyOrExit(aArgs[0].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
-        OutputLine(FormatStringFor<ValueType>(), aGetHandler(GetInstancePtr()));
-
-    exit:
-        return error;
-    }
-
-    template <typename ValueType> otError ProcessSet(Arg aArgs[], SetHandler<ValueType> aSetHandler)
-    {
-        otError   error;
-        ValueType value;
-
-        SuccessOrExit(error = aArgs[0].ParseAs<ValueType>(value));
-        VerifyOrExit(aArgs[1].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
-
-        aSetHandler(GetInstancePtr(), value);
-
-    exit:
-        return error;
-    }
-
-    template <typename ValueType> otError ProcessSet(Arg aArgs[], SetHandlerFailable<ValueType> aSetHandler)
-    {
-        otError   error;
-        ValueType value;
-
-        SuccessOrExit(error = aArgs[0].ParseAs<ValueType>(value));
-        VerifyOrExit(aArgs[1].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
-
-        error = aSetHandler(GetInstancePtr(), value);
-
-    exit:
-        return error;
-    }
-
-    template <typename ValueType>
-    otError ProcessGetSet(Arg aArgs[], GetHandler<ValueType> aGetHandler, SetHandler<ValueType> aSetHandler)
-    {
-        otError error = ProcessGet(aArgs, aGetHandler);
-
-        VerifyOrExit(error != OT_ERROR_NONE);
-        error = ProcessSet(aArgs, aSetHandler);
-
-    exit:
-        return error;
-    }
-
-    template <typename ValueType>
-    otError ProcessGetSet(Arg aArgs[], GetHandler<ValueType> aGetHandler, SetHandlerFailable<ValueType> aSetHandler)
-    {
-        otError error = ProcessGet(aArgs, aGetHandler);
-
-        VerifyOrExit(error != OT_ERROR_NONE);
-        error = ProcessSet(aArgs, aSetHandler);
-
-    exit:
-        return error;
-    }
-
-    otError ProcessEnableDisable(Arg aArgs[], SetEnabledHandler aSetEnabledHandler);
-    otError ProcessEnableDisable(Arg aArgs[], SetEnabledHandlerFailable aSetEnabledHandler);
-    otError ProcessEnableDisable(Arg aArgs[], IsEnabledHandler aIsEnabledHandler, SetEnabledHandler aSetEnabledHandler);
-    otError ProcessEnableDisable(Arg                       aArgs[],
-                                 IsEnabledHandler          aIsEnabledHandler,
-                                 SetEnabledHandlerFailable aSetEnabledHandler);
-
     void OutputPrompt(void);
     void OutputResult(otError aError);
 
@@ -604,46 +501,6 @@ private:
 #endif
 };
 
-// Specializations of `FormatStringFor<ValueType>()`
-
-template <> inline constexpr const char *Interpreter::FormatStringFor<uint8_t>(void) { return "%u"; }
-
-template <> inline constexpr const char *Interpreter::FormatStringFor<uint16_t>(void) { return "%u"; }
-
-template <> inline constexpr const char *Interpreter::FormatStringFor<uint32_t>(void) { return "%lu"; }
-
-template <> inline constexpr const char *Interpreter::FormatStringFor<int8_t>(void) { return "%d"; }
-
-template <> inline constexpr const char *Interpreter::FormatStringFor<int16_t>(void) { return "%d"; }
-
-template <> inline constexpr const char *Interpreter::FormatStringFor<int32_t>(void) { return "%ld"; }
-
-template <> inline constexpr const char *Interpreter::FormatStringFor<const char *>(void) { return "%s"; }
-
-// Specialization of ProcessGet<> for `uint32_t` and `int32_t`
-
-template <> inline otError Interpreter::ProcessGet<uint32_t>(Arg aArgs[], GetHandler<uint32_t> aGetHandler)
-{
-    otError error = OT_ERROR_NONE;
-
-    VerifyOrExit(aArgs[0].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
-    OutputLine(FormatStringFor<uint32_t>(), ToUlong(aGetHandler(GetInstancePtr())));
-
-exit:
-    return error;
-}
-
-template <> inline otError Interpreter::ProcessGet<int32_t>(Arg aArgs[], GetHandler<int32_t> aGetHandler)
-{
-    otError error = OT_ERROR_NONE;
-
-    VerifyOrExit(aArgs[0].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
-    OutputLine(FormatStringFor<int32_t>(), static_cast<long int>(aGetHandler(GetInstancePtr())));
-
-exit:
-    return error;
-}
-
 } // namespace Cli
 } // namespace ot
 
diff --git a/src/cli/cli_bbr.cpp b/src/cli/cli_bbr.cpp
index d37d3dfcc..0f86b2441 100644
--- a/src/cli/cli_bbr.cpp
+++ b/src/cli/cli_bbr.cpp
@@ -290,8 +290,7 @@ template <> otError Bbr::Process<Cmd("disable")>(Arg aArgs[])
  */
 template <> otError Bbr::Process<Cmd("jitter")>(Arg aArgs[])
 {
-    return Interpreter::GetInterpreter().ProcessGetSet(aArgs, otBackboneRouterGetRegistrationJitter,
-                                                       otBackboneRouterSetRegistrationJitter);
+    return ProcessGetSet(aArgs, otBackboneRouterGetRegistrationJitter, otBackboneRouterSetRegistrationJitter);
 }
 
 /**
diff --git a/src/cli/cli_bbr.hpp b/src/cli/cli_bbr.hpp
index 40ed979f6..120518ac9 100644
--- a/src/cli/cli_bbr.hpp
+++ b/src/cli/cli_bbr.hpp
@@ -42,7 +42,7 @@
 #include <openthread/backbone_router_ftd.h>
 
 #include "cli/cli_config.h"
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 namespace ot {
 namespace Cli {
@@ -51,11 +51,9 @@ namespace Cli {
  * Implements the BBR CLI interpreter.
  *
  */
-class Bbr : private Output
+class Bbr : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor.
      *
@@ -64,7 +62,7 @@ public:
      *
      */
     Bbr(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-        : Output(aInstance, aOutputImplementer)
+        : Utils(aInstance, aOutputImplementer)
     {
     }
 
diff --git a/src/cli/cli_br.cpp b/src/cli/cli_br.cpp
index 9c77c7d07..85590b925 100644
--- a/src/cli/cli_br.cpp
+++ b/src/cli/cli_br.cpp
@@ -455,7 +455,7 @@ template <> otError Br::Process<Cmd("pd")>(Arg aArgs[])
      * #otBorderRoutingDhcp6PdSetEnabled
      *
      */
-    if (Interpreter::GetInterpreter().ProcessEnableDisable(aArgs, otBorderRoutingDhcp6PdSetEnabled) == OT_ERROR_NONE)
+    if (ProcessEnableDisable(aArgs, otBorderRoutingDhcp6PdSetEnabled) == OT_ERROR_NONE)
     {
     }
     /**
diff --git a/src/cli/cli_br.hpp b/src/cli/cli_br.hpp
index 01fcdcf94..5a877a84d 100644
--- a/src/cli/cli_br.hpp
+++ b/src/cli/cli_br.hpp
@@ -39,7 +39,7 @@
 #include <openthread/border_routing.h>
 
 #include "cli/cli_config.h"
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #if OPENTHREAD_CONFIG_BORDER_ROUTING_ENABLE
 
@@ -50,11 +50,9 @@ namespace Cli {
  * Implements the Border Router CLI interpreter.
  *
  */
-class Br : private Output
+class Br : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
@@ -63,7 +61,7 @@ public:
      *
      */
     Br(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-        : Output(aInstance, aOutputImplementer)
+        : Utils(aInstance, aOutputImplementer)
     {
     }
 
diff --git a/src/cli/cli_coap.cpp b/src/cli/cli_coap.cpp
index 9464dff07..b19d820f9 100644
--- a/src/cli/cli_coap.cpp
+++ b/src/cli/cli_coap.cpp
@@ -45,7 +45,7 @@ namespace ot {
 namespace Cli {
 
 Coap::Coap(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-    : Output(aInstance, aOutputImplementer)
+    : Utils(aInstance, aOutputImplementer)
     , mUseDefaultRequestTxParameters(true)
     , mUseDefaultResponseTxParameters(true)
 #if OPENTHREAD_CONFIG_COAP_OBSERVE_API_ENABLE
diff --git a/src/cli/cli_coap.hpp b/src/cli/cli_coap.hpp
index 2b4184a51..95ce7b94a 100644
--- a/src/cli/cli_coap.hpp
+++ b/src/cli/cli_coap.hpp
@@ -40,7 +40,7 @@
 
 #include <openthread/coap.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 namespace ot {
 namespace Cli {
@@ -49,11 +49,9 @@ namespace Cli {
  * Implements the CLI CoAP server and client.
  *
  */
-class Coap : private Output
+class Coap : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
diff --git a/src/cli/cli_coap_secure.cpp b/src/cli/cli_coap_secure.cpp
index e238fbbd0..2ff4f6819 100644
--- a/src/cli/cli_coap_secure.cpp
+++ b/src/cli/cli_coap_secure.cpp
@@ -47,7 +47,7 @@ namespace ot {
 namespace Cli {
 
 CoapSecure::CoapSecure(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-    : Output(aInstance, aOutputImplementer)
+    : Utils(aInstance, aOutputImplementer)
     , mShutdownFlag(false)
     , mUseCertificate(false)
     , mPskLength(0)
diff --git a/src/cli/cli_coap_secure.hpp b/src/cli/cli_coap_secure.hpp
index a09dfed02..92a7a95e5 100644
--- a/src/cli/cli_coap_secure.hpp
+++ b/src/cli/cli_coap_secure.hpp
@@ -42,7 +42,7 @@
 
 #include <openthread/coap_secure.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #ifndef CLI_COAP_SECURE_USE_COAP_DEFAULT_HANDLER
 #define CLI_COAP_SECURE_USE_COAP_DEFAULT_HANDLER 0
@@ -55,11 +55,9 @@ namespace Cli {
  * Implements the CLI CoAP Secure server and client.
  *
  */
-class CoapSecure : private Output
+class CoapSecure : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
diff --git a/src/cli/cli_commissioner.hpp b/src/cli/cli_commissioner.hpp
index 162c6da5b..a5feac4cc 100644
--- a/src/cli/cli_commissioner.hpp
+++ b/src/cli/cli_commissioner.hpp
@@ -38,7 +38,7 @@
 
 #include <openthread/commissioner.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #if OPENTHREAD_CONFIG_COMMISSIONER_ENABLE && OPENTHREAD_FTD
 
@@ -49,11 +49,9 @@ namespace Cli {
  * Implements the Commissioner CLI interpreter.
  *
  */
-class Commissioner : private Output
+class Commissioner : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
@@ -62,7 +60,7 @@ public:
      *
      */
     Commissioner(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-        : Output(aInstance, aOutputImplementer)
+        : Utils(aInstance, aOutputImplementer)
     {
     }
 
diff --git a/src/cli/cli_dataset.hpp b/src/cli/cli_dataset.hpp
index 858786231..06055e34a 100644
--- a/src/cli/cli_dataset.hpp
+++ b/src/cli/cli_dataset.hpp
@@ -40,7 +40,7 @@
 
 #include <openthread/dataset.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 namespace ot {
 namespace Cli {
@@ -49,13 +49,11 @@ namespace Cli {
  * Implements the Dataset CLI interpreter.
  *
  */
-class Dataset : private Output
+class Dataset : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     Dataset(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-        : Output(aInstance, aOutputImplementer)
+        : Utils(aInstance, aOutputImplementer)
     {
     }
 
diff --git a/src/cli/cli_dns.cpp b/src/cli/cli_dns.cpp
index e5dff9a13..5148bb36b 100644
--- a/src/cli/cli_dns.cpp
+++ b/src/cli/cli_dns.cpp
@@ -679,8 +679,7 @@ template <> otError Dns::Process<Cmd("server")>(Arg aArgs[])
          * @par api_copy
          * #otDnssdUpstreamQuerySetEnabled
          */
-        error = Interpreter::GetInterpreter().ProcessEnableDisable(aArgs + 1, otDnssdUpstreamQueryIsEnabled,
-                                                                   otDnssdUpstreamQuerySetEnabled);
+        error = ProcessEnableDisable(aArgs + 1, otDnssdUpstreamQueryIsEnabled, otDnssdUpstreamQuerySetEnabled);
     }
 #endif // OPENTHREAD_CONFIG_DNS_UPSTREAM_QUERY_ENABLE
     else
diff --git a/src/cli/cli_dns.hpp b/src/cli/cli_dns.hpp
index b9f167939..bf31ed76e 100644
--- a/src/cli/cli_dns.hpp
+++ b/src/cli/cli_dns.hpp
@@ -54,7 +54,7 @@
 #include <openthread/dnssd_server.h>
 
 #include "cli/cli_config.h"
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 namespace ot {
 namespace Cli {
@@ -63,11 +63,9 @@ namespace Cli {
  * Implements the DNS CLI interpreter.
  *
  */
-class Dns : private Output
+class Dns : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor.
      *
@@ -76,7 +74,7 @@ public:
      *
      */
     Dns(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-        : Output(aInstance, aOutputImplementer)
+        : Utils(aInstance, aOutputImplementer)
     {
     }
 
diff --git a/src/cli/cli_history.hpp b/src/cli/cli_history.hpp
index 90f832fbf..6958b0429 100644
--- a/src/cli/cli_history.hpp
+++ b/src/cli/cli_history.hpp
@@ -39,7 +39,7 @@
 #include <openthread/history_tracker.h>
 
 #include "cli/cli_config.h"
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #if OPENTHREAD_CONFIG_HISTORY_TRACKER_ENABLE
 
@@ -50,11 +50,9 @@ namespace Cli {
  * Implements the History Tracker CLI interpreter.
  *
  */
-class History : private Output
+class History : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
@@ -63,7 +61,7 @@ public:
      *
      */
     History(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-        : Output(aInstance, aOutputImplementer)
+        : Utils(aInstance, aOutputImplementer)
     {
     }
 
diff --git a/src/cli/cli_joiner.hpp b/src/cli/cli_joiner.hpp
index e45dbf8db..297525c74 100644
--- a/src/cli/cli_joiner.hpp
+++ b/src/cli/cli_joiner.hpp
@@ -38,7 +38,7 @@
 
 #include <openthread/joiner.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #if OPENTHREAD_CONFIG_JOINER_ENABLE
 
@@ -49,11 +49,9 @@ namespace Cli {
  * Implements the Joiner CLI interpreter.
  *
  */
-class Joiner : private Output
+class Joiner : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
@@ -62,7 +60,7 @@ public:
      *
      */
     Joiner(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-        : Output(aInstance, aOutputImplementer)
+        : Utils(aInstance, aOutputImplementer)
     {
     }
 
diff --git a/src/cli/cli_link_metrics.cpp b/src/cli/cli_link_metrics.cpp
index 93cc8c575..a12515d1b 100644
--- a/src/cli/cli_link_metrics.cpp
+++ b/src/cli/cli_link_metrics.cpp
@@ -36,7 +36,7 @@
 #include <openthread/link_metrics.h>
 
 #include "cli/cli.hpp"
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 #include "common/code_utils.hpp"
 
 #if OPENTHREAD_CONFIG_MLE_LINK_METRICS_INITIATOR_ENABLE
@@ -45,7 +45,7 @@ namespace ot {
 namespace Cli {
 
 LinkMetrics::LinkMetrics(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-    : Output(aInstance, aOutputImplementer)
+    : Utils(aInstance, aOutputImplementer)
     , mLinkMetricsQueryInProgress(false)
 {
 }
diff --git a/src/cli/cli_link_metrics.hpp b/src/cli/cli_link_metrics.hpp
index d62be780e..40b67c604 100644
--- a/src/cli/cli_link_metrics.hpp
+++ b/src/cli/cli_link_metrics.hpp
@@ -38,7 +38,7 @@
 
 #include <openthread/link_metrics.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #if OPENTHREAD_CONFIG_MLE_LINK_METRICS_INITIATOR_ENABLE
 
@@ -50,11 +50,9 @@ namespace Cli {
  *
  */
 
-class LinkMetrics : private Output
+class LinkMetrics : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
diff --git a/src/cli/cli_mac_filter.hpp b/src/cli/cli_mac_filter.hpp
index 1394d4fa0..0f03b1b5b 100644
--- a/src/cli/cli_mac_filter.hpp
+++ b/src/cli/cli_mac_filter.hpp
@@ -41,7 +41,7 @@
 #include <openthread/link.h>
 
 #include "cli/cli_config.h"
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 namespace ot {
 namespace Cli {
@@ -50,11 +50,9 @@ namespace Cli {
  * Implements the MAC Filter CLI interpreter.
  *
  */
-class MacFilter : private Output
+class MacFilter : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor.
      *
@@ -63,7 +61,7 @@ public:
      *
      */
     MacFilter(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-        : Output(aInstance, aOutputImplementer)
+        : Utils(aInstance, aOutputImplementer)
     {
     }
 
diff --git a/src/cli/cli_network_data.cpp b/src/cli/cli_network_data.cpp
index 85c3e262a..5f5c63293 100644
--- a/src/cli/cli_network_data.cpp
+++ b/src/cli/cli_network_data.cpp
@@ -44,7 +44,7 @@ namespace ot {
 namespace Cli {
 
 NetworkData::NetworkData(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-    : Output(aInstance, aOutputImplementer)
+    : Utils(aInstance, aOutputImplementer)
 {
 #if OPENTHREAD_CONFIG_BORDER_ROUTER_SIGNAL_NETWORK_DATA_FULL
     mFullCallbackWasCalled = false;
diff --git a/src/cli/cli_network_data.hpp b/src/cli/cli_network_data.hpp
index 15af65084..d7d659614 100644
--- a/src/cli/cli_network_data.hpp
+++ b/src/cli/cli_network_data.hpp
@@ -38,7 +38,7 @@
 
 #include <openthread/netdata.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 namespace ot {
 namespace Cli {
@@ -47,11 +47,9 @@ namespace Cli {
  * Implements the Network Data CLI.
  *
  */
-class NetworkData : private Output
+class NetworkData : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * This constant specifies the string size for representing Network Data prefix/route entry flags.
      *
diff --git a/src/cli/cli_ping.cpp b/src/cli/cli_ping.cpp
index 7d8825908..1111e3d1f 100644
--- a/src/cli/cli_ping.cpp
+++ b/src/cli/cli_ping.cpp
@@ -36,7 +36,7 @@
 #include <openthread/ping_sender.h>
 
 #include "cli/cli.hpp"
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 #include "common/code_utils.hpp"
 
 #if OPENTHREAD_CONFIG_PING_SENDER_ENABLE
@@ -45,7 +45,7 @@ namespace ot {
 namespace Cli {
 
 PingSender::PingSender(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-    : Output(aInstance, aOutputImplementer)
+    : Utils(aInstance, aOutputImplementer)
     , mPingIsAsync(false)
 {
 }
diff --git a/src/cli/cli_ping.hpp b/src/cli/cli_ping.hpp
index e517506bd..6504412a4 100644
--- a/src/cli/cli_ping.hpp
+++ b/src/cli/cli_ping.hpp
@@ -38,7 +38,7 @@
 
 #include <openthread/ping_sender.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #if OPENTHREAD_CONFIG_PING_SENDER_ENABLE
 
@@ -50,11 +50,9 @@ namespace Cli {
  *
  */
 
-class PingSender : private Output
+class PingSender : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
diff --git a/src/cli/cli_srp_client.cpp b/src/cli/cli_srp_client.cpp
index d90947bc1..a5301f390 100644
--- a/src/cli/cli_srp_client.cpp
+++ b/src/cli/cli_srp_client.cpp
@@ -58,7 +58,7 @@ exit:
 }
 
 SrpClient::SrpClient(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-    : Output(aInstance, aOutputImplementer)
+    : Utils(aInstance, aOutputImplementer)
     , mCallbackEnabled(false)
 {
     otSrpClientSetCallback(GetInstancePtr(), SrpClient::HandleCallback, this);
@@ -453,7 +453,7 @@ exit:
  */
 template <> otError SrpClient::Process<Cmd("leaseinterval")>(Arg aArgs[])
 {
-    return Interpreter::GetInterpreter().ProcessGetSet(aArgs, otSrpClientGetLeaseInterval, otSrpClientSetLeaseInterval);
+    return ProcessGetSet(aArgs, otSrpClientGetLeaseInterval, otSrpClientSetLeaseInterval);
 }
 
 /**
@@ -475,8 +475,7 @@ template <> otError SrpClient::Process<Cmd("leaseinterval")>(Arg aArgs[])
  */
 template <> otError SrpClient::Process<Cmd("keyleaseinterval")>(Arg aArgs[])
 {
-    return Interpreter::GetInterpreter().ProcessGetSet(aArgs, otSrpClientGetKeyLeaseInterval,
-                                                       otSrpClientSetKeyLeaseInterval);
+    return ProcessGetSet(aArgs, otSrpClientGetKeyLeaseInterval, otSrpClientSetKeyLeaseInterval);
 }
 
 template <> otError SrpClient::Process<Cmd("server")>(Arg aArgs[])
@@ -577,9 +576,9 @@ template <> otError SrpClient::Process<Cmd("service")>(Arg aArgs[])
      * * -->                          [@ca{weight}] [@ca{txt}]
      * The `servicename` parameter can optionally include a list of service subtype labels that are
      * separated by commas. The examples here use generic naming. The `priority` and `weight` (both are `uint16_t`
-     * values) parameters are optional, and if not provided zero is used. The optional `txt` parameter sets the TXT data
-     * associated with the service. The `txt` value must be in hex-string format and is treated as an already encoded
-     * TXT data byte sequence.
+     * values) parameters are optional, and if not provided zero is used. The optional `txt` parameter sets the TXT
+     * data associated with the service. The `txt` value must be in hex-string format and is treated as an already
+     * encoded TXT data byte sequence.
      * @par
      * Adds a service with a given instance name, service name, and port number.
      * @moreinfo{@srp}.
@@ -664,8 +663,8 @@ template <> otError SrpClient::Process<Cmd("service")>(Arg aArgs[])
     {
         // `key [enable/disable]`
 
-        error = Interpreter::GetInterpreter().ProcessEnableDisable(aArgs + 1, otSrpClientIsServiceKeyRecordEnabled,
-                                                                   otSrpClientSetServiceKeyRecordEnabled);
+        error = ProcessEnableDisable(aArgs + 1, otSrpClientIsServiceKeyRecordEnabled,
+                                     otSrpClientSetServiceKeyRecordEnabled);
     }
 #endif // OPENTHREAD_CONFIG_REFERENCE_DEVICE_ENABLE
     else
@@ -929,7 +928,7 @@ exit:
  */
 template <> otError SrpClient::Process<Cmd("ttl")>(Arg aArgs[])
 {
-    return Interpreter::GetInterpreter().ProcessGetSet(aArgs, otSrpClientGetTtl, otSrpClientSetTtl);
+    return ProcessGetSet(aArgs, otSrpClientGetTtl, otSrpClientSetTtl);
 }
 
 void SrpClient::HandleCallback(otError                    aError,
diff --git a/src/cli/cli_srp_client.hpp b/src/cli/cli_srp_client.hpp
index 93e7fe35f..85564cd91 100644
--- a/src/cli/cli_srp_client.hpp
+++ b/src/cli/cli_srp_client.hpp
@@ -40,7 +40,7 @@
 #include <openthread/srp_client_buffers.h>
 
 #include "cli/cli_config.h"
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #if OPENTHREAD_CONFIG_SRP_CLIENT_ENABLE
 
@@ -51,11 +51,9 @@ namespace Cli {
  * Implements the SRP Client CLI interpreter.
  *
  */
-class SrpClient : private Output
+class SrpClient : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
diff --git a/src/cli/cli_srp_server.cpp b/src/cli/cli_srp_server.cpp
index ee61a339f..5e71a4a24 100644
--- a/src/cli/cli_srp_server.cpp
+++ b/src/cli/cli_srp_server.cpp
@@ -121,8 +121,7 @@ template <> otError SrpServer::Process<Cmd("addrmode")>(Arg aArgs[])
  */
 template <> otError SrpServer::Process<Cmd("auto")>(Arg aArgs[])
 {
-    return Interpreter::GetInterpreter().ProcessEnableDisable(aArgs, otSrpServerIsAutoEnableMode,
-                                                              otSrpServerSetAutoEnableMode);
+    return ProcessEnableDisable(aArgs, otSrpServerIsAutoEnableMode, otSrpServerSetAutoEnableMode);
 }
 #endif
 
diff --git a/src/cli/cli_srp_server.hpp b/src/cli/cli_srp_server.hpp
index 344d3c2bb..b110eb896 100644
--- a/src/cli/cli_srp_server.hpp
+++ b/src/cli/cli_srp_server.hpp
@@ -38,7 +38,7 @@
 
 #include <openthread/srp_server.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #if OPENTHREAD_CONFIG_SRP_SERVER_ENABLE
 
@@ -49,11 +49,9 @@ namespace Cli {
  * Implements the SRP Server CLI interpreter.
  *
  */
-class SrpServer : private Output
+class SrpServer : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
@@ -62,7 +60,7 @@ public:
      *
      */
     SrpServer(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-        : Output(aInstance, aOutputImplementer)
+        : Utils(aInstance, aOutputImplementer)
     {
     }
 
diff --git a/src/cli/cli_tcat.cpp b/src/cli/cli_tcat.cpp
index 7845be89b..1ef73a561 100644
--- a/src/cli/cli_tcat.cpp
+++ b/src/cli/cli_tcat.cpp
@@ -28,7 +28,7 @@
 
 #include "openthread-core-config.h"
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #include "cli/cli_tcat.hpp"
 
diff --git a/src/cli/cli_tcat.hpp b/src/cli/cli_tcat.hpp
index 91b36cc4b..697cba183 100644
--- a/src/cli/cli_tcat.hpp
+++ b/src/cli/cli_tcat.hpp
@@ -33,7 +33,7 @@
 
 #include <openthread/tcat.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 #if OPENTHREAD_CONFIG_BLE_TCAT_ENABLE && OPENTHREAD_CONFIG_CLI_BLE_SECURE_ENABLE
 
@@ -45,11 +45,9 @@ namespace Cli {
  * Implements the Tcat CLI interpreter.
  *
  */
-class Tcat : private Output
+class Tcat : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
@@ -58,7 +56,7 @@ public:
      *
      */
     Tcat(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-        : Output(aInstance, aOutputImplementer)
+        : Utils(aInstance, aOutputImplementer)
     {
     }
 
diff --git a/src/cli/cli_tcp.cpp b/src/cli/cli_tcp.cpp
index 90ce1aaef..b891c2df6 100644
--- a/src/cli/cli_tcp.cpp
+++ b/src/cli/cli_tcp.cpp
@@ -61,7 +61,7 @@ const int TcpExample::sCipherSuites[] = {MBEDTLS_TLS_ECJPAKE_WITH_AES_128_CCM_8,
 #endif
 
 TcpExample::TcpExample(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-    : Output(aInstance, aOutputImplementer)
+    : Utils(aInstance, aOutputImplementer)
     , mInitialized(false)
     , mEndpointConnected(false)
     , mEndpointConnectedFastOpen(false)
diff --git a/src/cli/cli_tcp.hpp b/src/cli/cli_tcp.hpp
index 50e728025..e658edee0 100644
--- a/src/cli/cli_tcp.hpp
+++ b/src/cli/cli_tcp.hpp
@@ -49,7 +49,7 @@
 #endif
 
 #include "cli/cli_config.h"
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 #include "common/time.hpp"
 
 namespace ot {
@@ -59,11 +59,9 @@ namespace Cli {
  * Implements a CLI-based TCP example.
  *
  */
-class TcpExample : private Output
+class TcpExample : private Utils
 {
 public:
-    using Arg = Utils::CmdLineParser::Arg;
-
     /**
      * Constructor
      *
diff --git a/src/cli/cli_udp.cpp b/src/cli/cli_udp.cpp
index 9f8afdf2a..299be12ef 100644
--- a/src/cli/cli_udp.cpp
+++ b/src/cli/cli_udp.cpp
@@ -44,7 +44,7 @@ namespace ot {
 namespace Cli {
 
 UdpExample::UdpExample(otInstance *aInstance, OutputImplementer &aOutputImplementer)
-    : Output(aInstance, aOutputImplementer)
+    : Utils(aInstance, aOutputImplementer)
     , mLinkSecurityEnabled(true)
 {
     ClearAllBytes(mSocket);
@@ -408,7 +408,7 @@ otError UdpExample::PrepareHexStringPayload(otMessage &aMessage, const char *aHe
     while (!done)
     {
         length = sizeof(buf);
-        error  = Utils::CmdLineParser::ParseAsHexStringSegment(aHexString, length, buf);
+        error  = ot::Utils::CmdLineParser::ParseAsHexStringSegment(aHexString, length, buf);
 
         VerifyOrExit((error == OT_ERROR_NONE) || (error == OT_ERROR_PENDING));
         done = (error == OT_ERROR_NONE);
diff --git a/src/cli/cli_udp.hpp b/src/cli/cli_udp.hpp
index 0c15c8070..d1c70508d 100644
--- a/src/cli/cli_udp.hpp
+++ b/src/cli/cli_udp.hpp
@@ -38,7 +38,7 @@
 
 #include <openthread/udp.h>
 
-#include "cli/cli_output.hpp"
+#include "cli/cli_utils.hpp"
 
 namespace ot {
 namespace Cli {
@@ -47,11 +47,9 @@ namespace Cli {
  * Implements a CLI-based UDP example.
  *
  */
-class UdpExample : private Output
+class UdpExample : private Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg;
-
     /**
      * Constructor
      *
diff --git a/src/cli/cli_output.cpp b/src/cli/cli_utils.cpp
similarity index 71%
rename from src/cli/cli_output.cpp
rename to src/cli/cli_utils.cpp
index c70eacdd2..f2f53593d 100644
--- a/src/cli/cli_output.cpp
+++ b/src/cli/cli_utils.cpp
@@ -31,7 +31,7 @@
  *   This file contains implementation of the CLI output module.
  */
 
-#include "cli_output.hpp"
+#include "cli_utils.hpp"
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -48,7 +48,7 @@
 namespace ot {
 namespace Cli {
 
-const char Output::kUnknownString[] = "unknown";
+const char Utils::kUnknownString[] = "unknown";
 
 OutputImplementer::OutputImplementer(otCliOutputCallback aCallback, void *aCallbackContext)
     : mCallback(aCallback)
@@ -60,7 +60,7 @@ OutputImplementer::OutputImplementer(otCliOutputCallback aCallback, void *aCallb
 {
 }
 
-void Output::OutputFormat(const char *aFormat, ...)
+void Utils::OutputFormat(const char *aFormat, ...)
 {
     va_list args;
 
@@ -69,7 +69,7 @@ void Output::OutputFormat(const char *aFormat, ...)
     va_end(args);
 }
 
-void Output::OutputFormat(uint8_t aIndentSize, const char *aFormat, ...)
+void Utils::OutputFormat(uint8_t aIndentSize, const char *aFormat, ...)
 {
     va_list args;
 
@@ -80,7 +80,7 @@ void Output::OutputFormat(uint8_t aIndentSize, const char *aFormat, ...)
     va_end(args);
 }
 
-void Output::OutputLine(const char *aFormat, ...)
+void Utils::OutputLine(const char *aFormat, ...)
 {
     va_list args;
 
@@ -91,7 +91,7 @@ void Output::OutputLine(const char *aFormat, ...)
     OutputNewLine();
 }
 
-void Output::OutputLine(uint8_t aIndentSize, const char *aFormat, ...)
+void Utils::OutputLine(uint8_t aIndentSize, const char *aFormat, ...)
 {
     va_list args;
 
@@ -104,11 +104,11 @@ void Output::OutputLine(uint8_t aIndentSize, const char *aFormat, ...)
     OutputNewLine();
 }
 
-void Output::OutputNewLine(void) { OutputFormat("\r\n"); }
+void Utils::OutputNewLine(void) { OutputFormat("\r\n"); }
 
-void Output::OutputSpaces(uint8_t aCount) { OutputFormat("%*s", aCount, ""); }
+void Utils::OutputSpaces(uint8_t aCount) { OutputFormat("%*s", aCount, ""); }
 
-void Output::OutputBytes(const uint8_t *aBytes, uint16_t aLength)
+void Utils::OutputBytes(const uint8_t *aBytes, uint16_t aLength)
 {
     for (uint16_t i = 0; i < aLength; i++)
     {
@@ -116,13 +116,13 @@ void Output::OutputBytes(const uint8_t *aBytes, uint16_t aLength)
     }
 }
 
-void Output::OutputBytesLine(const uint8_t *aBytes, uint16_t aLength)
+void Utils::OutputBytesLine(const uint8_t *aBytes, uint16_t aLength)
 {
     OutputBytes(aBytes, aLength);
     OutputNewLine();
 }
 
-const char *Output::Uint64ToString(uint64_t aUint64, Uint64StringBuffer &aBuffer)
+const char *Utils::Uint64ToString(uint64_t aUint64, Uint64StringBuffer &aBuffer)
 {
     char *cur = &aBuffer.mChars[Uint64StringBuffer::kSize - 1];
 
@@ -143,24 +143,24 @@ const char *Output::Uint64ToString(uint64_t aUint64, Uint64StringBuffer &aBuffer
     return cur;
 }
 
-void Output::OutputUint64(uint64_t aUint64)
+void Utils::OutputUint64(uint64_t aUint64)
 {
     Uint64StringBuffer buffer;
 
     OutputFormat("%s", Uint64ToString(aUint64, buffer));
 }
 
-void Output::OutputUint64Line(uint64_t aUint64)
+void Utils::OutputUint64Line(uint64_t aUint64)
 {
     OutputUint64(aUint64);
     OutputNewLine();
 }
 
-void Output::OutputEnabledDisabledStatus(bool aEnabled) { OutputLine(aEnabled ? "Enabled" : "Disabled"); }
+void Utils::OutputEnabledDisabledStatus(bool aEnabled) { OutputLine(aEnabled ? "Enabled" : "Disabled"); }
 
 #if OPENTHREAD_FTD || OPENTHREAD_MTD
 
-void Output::OutputIp6Address(const otIp6Address &aAddress)
+void Utils::OutputIp6Address(const otIp6Address &aAddress)
 {
     char string[OT_IP6_ADDRESS_STRING_SIZE];
 
@@ -169,13 +169,13 @@ void Output::OutputIp6Address(const otIp6Address &aAddress)
     return OutputFormat("%s", string);
 }
 
-void Output::OutputIp6AddressLine(const otIp6Address &aAddress)
+void Utils::OutputIp6AddressLine(const otIp6Address &aAddress)
 {
     OutputIp6Address(aAddress);
     OutputNewLine();
 }
 
-void Output::OutputIp6Prefix(const otIp6Prefix &aPrefix)
+void Utils::OutputIp6Prefix(const otIp6Prefix &aPrefix)
 {
     char string[OT_IP6_PREFIX_STRING_SIZE];
 
@@ -184,25 +184,25 @@ void Output::OutputIp6Prefix(const otIp6Prefix &aPrefix)
     OutputFormat("%s", string);
 }
 
-void Output::OutputIp6PrefixLine(const otIp6Prefix &aPrefix)
+void Utils::OutputIp6PrefixLine(const otIp6Prefix &aPrefix)
 {
     OutputIp6Prefix(aPrefix);
     OutputNewLine();
 }
 
-void Output::OutputIp6Prefix(const otIp6NetworkPrefix &aPrefix)
+void Utils::OutputIp6Prefix(const otIp6NetworkPrefix &aPrefix)
 {
     OutputFormat("%x:%x:%x:%x::/64", (aPrefix.m8[0] << 8) | aPrefix.m8[1], (aPrefix.m8[2] << 8) | aPrefix.m8[3],
                  (aPrefix.m8[4] << 8) | aPrefix.m8[5], (aPrefix.m8[6] << 8) | aPrefix.m8[7]);
 }
 
-void Output::OutputIp6PrefixLine(const otIp6NetworkPrefix &aPrefix)
+void Utils::OutputIp6PrefixLine(const otIp6NetworkPrefix &aPrefix)
 {
     OutputIp6Prefix(aPrefix);
     OutputNewLine();
 }
 
-void Output::OutputSockAddr(const otSockAddr &aSockAddr)
+void Utils::OutputSockAddr(const otSockAddr &aSockAddr)
 {
     char string[OT_IP6_SOCK_ADDR_STRING_SIZE];
 
@@ -211,13 +211,13 @@ void Output::OutputSockAddr(const otSockAddr &aSockAddr)
     return OutputFormat("%s", string);
 }
 
-void Output::OutputSockAddrLine(const otSockAddr &aSockAddr)
+void Utils::OutputSockAddrLine(const otSockAddr &aSockAddr)
 {
     OutputSockAddr(aSockAddr);
     OutputNewLine();
 }
 
-void Output::OutputDnsTxtData(const uint8_t *aTxtData, uint16_t aTxtDataLength)
+void Utils::OutputDnsTxtData(const uint8_t *aTxtData, uint16_t aTxtDataLength)
 {
     otDnsTxtEntry         entry;
     otDnsTxtEntryIterator iterator;
@@ -262,7 +262,7 @@ void Output::OutputDnsTxtData(const uint8_t *aTxtData, uint16_t aTxtDataLength)
     OutputFormat("]");
 }
 
-const char *Output::PercentageToString(uint16_t aValue, PercentageStringBuffer &aBuffer)
+const char *Utils::PercentageToString(uint16_t aValue, PercentageStringBuffer &aBuffer)
 {
     uint32_t     scaledValue = aValue;
     StringWriter writer(aBuffer.mChars, sizeof(aBuffer.mChars));
@@ -275,7 +275,7 @@ const char *Output::PercentageToString(uint16_t aValue, PercentageStringBuffer &
 
 #endif // OPENTHREAD_FTD || OPENTHREAD_MTD
 
-void Output::OutputFormatV(const char *aFormat, va_list aArguments) { mImplementer.OutputV(aFormat, aArguments); }
+void Utils::OutputFormatV(const char *aFormat, va_list aArguments) { mImplementer.OutputV(aFormat, aArguments); }
 
 void OutputImplementer::OutputV(const char *aFormat, va_list aArguments)
 {
@@ -370,7 +370,7 @@ exit:
 }
 
 #if OPENTHREAD_CONFIG_CLI_LOG_INPUT_OUTPUT_ENABLE
-void Output::LogInput(const Arg *aArgs)
+void Utils::LogInput(const Arg *aArgs)
 {
     String<kInputOutputLogStringSize> inputString;
 
@@ -383,7 +383,7 @@ void Output::LogInput(const Arg *aArgs)
 }
 #endif
 
-void Output::OutputTableHeader(uint8_t aNumColumns, const char *const aTitles[], const uint8_t aWidths[])
+void Utils::OutputTableHeader(uint8_t aNumColumns, const char *const aTitles[], const uint8_t aWidths[])
 {
     for (uint8_t index = 0; index < aNumColumns; index++)
     {
@@ -412,7 +412,7 @@ void Output::OutputTableHeader(uint8_t aNumColumns, const char *const aTitles[],
     OutputTableSeparator(aNumColumns, aWidths);
 }
 
-void Output::OutputTableSeparator(uint8_t aNumColumns, const uint8_t aWidths[])
+void Utils::OutputTableSeparator(uint8_t aNumColumns, const uint8_t aWidths[])
 {
     for (uint8_t index = 0; index < aNumColumns; index++)
     {
@@ -427,5 +427,95 @@ void Output::OutputTableSeparator(uint8_t aNumColumns, const uint8_t aWidths[])
     OutputLine("+");
 }
 
+otError Utils::ParseEnableOrDisable(const Arg &aArg, bool &aEnable)
+{
+    otError error = OT_ERROR_NONE;
+
+    if (aArg == "enable")
+    {
+        aEnable = true;
+    }
+    else if (aArg == "disable")
+    {
+        aEnable = false;
+    }
+    else
+    {
+        error = OT_ERROR_INVALID_COMMAND;
+    }
+
+    return error;
+}
+
+otError Utils::ProcessEnableDisable(Arg aArgs[], SetEnabledHandler aSetEnabledHandler)
+{
+    otError error = OT_ERROR_NONE;
+    bool    enable;
+
+    if (ParseEnableOrDisable(aArgs[0], enable) == OT_ERROR_NONE)
+    {
+        aSetEnabledHandler(GetInstancePtr(), enable);
+    }
+    else
+    {
+        error = OT_ERROR_INVALID_COMMAND;
+    }
+
+    return error;
+}
+
+otError Utils::ProcessEnableDisable(Arg aArgs[], SetEnabledHandlerFailable aSetEnabledHandler)
+{
+    otError error = OT_ERROR_NONE;
+    bool    enable;
+
+    if (ParseEnableOrDisable(aArgs[0], enable) == OT_ERROR_NONE)
+    {
+        error = aSetEnabledHandler(GetInstancePtr(), enable);
+    }
+    else
+    {
+        error = OT_ERROR_INVALID_COMMAND;
+    }
+
+    return error;
+}
+
+otError Utils::ProcessEnableDisable(Arg               aArgs[],
+                                    IsEnabledHandler  aIsEnabledHandler,
+                                    SetEnabledHandler aSetEnabledHandler)
+{
+    otError error = OT_ERROR_NONE;
+
+    if (aArgs[0].IsEmpty())
+    {
+        OutputEnabledDisabledStatus(aIsEnabledHandler(GetInstancePtr()));
+    }
+    else
+    {
+        error = ProcessEnableDisable(aArgs, aSetEnabledHandler);
+    }
+
+    return error;
+}
+
+otError Utils::ProcessEnableDisable(Arg                       aArgs[],
+                                    IsEnabledHandler          aIsEnabledHandler,
+                                    SetEnabledHandlerFailable aSetEnabledHandler)
+{
+    otError error = OT_ERROR_NONE;
+
+    if (aArgs[0].IsEmpty())
+    {
+        OutputEnabledDisabledStatus(aIsEnabledHandler(GetInstancePtr()));
+    }
+    else
+    {
+        error = ProcessEnableDisable(aArgs, aSetEnabledHandler);
+    }
+
+    return error;
+}
+
 } // namespace Cli
 } // namespace ot
diff --git a/src/cli/cli_output.hpp b/src/cli/cli_utils.hpp
similarity index 76%
rename from src/cli/cli_output.hpp
rename to src/cli/cli_utils.hpp
index 3029108cf..ebf9cc14a 100644
--- a/src/cli/cli_output.hpp
+++ b/src/cli/cli_utils.hpp
@@ -70,7 +70,7 @@ constexpr static CommandId Cmd(const char *aString)
     return (aString[0] == '\0') ? 0 : (static_cast<uint8_t>(aString[0]) + Cmd(aString + 1) * 255u);
 }
 
-class Output;
+class Utils;
 
 /**
  * Implements the basic output functions.
@@ -78,7 +78,7 @@ class Output;
  */
 class OutputImplementer
 {
-    friend class Output;
+    friend class Utils;
 
 public:
     /**
@@ -111,13 +111,13 @@ private:
 };
 
 /**
- * Provides CLI output helper methods.
+ * Provides CLI helper methods.
  *
  */
-class Output
+class Utils
 {
 public:
-    typedef Utils::CmdLineParser::Arg Arg; ///< An argument
+    typedef ot::Utils::CmdLineParser::Arg Arg; ///< An argument
 
     /**
      * Represent a CLI command table entry, mapping a command with `aName` to a handler method.
@@ -190,7 +190,7 @@ public:
      * @param[in] aImplementer        An `OutputImplementer`.
      *
      */
-    Output(otInstance *aInstance, OutputImplementer &aImplementer)
+    Utils(otInstance *aInstance, OutputImplementer &aImplementer)
         : mInstance(aInstance)
         , mImplementer(aImplementer)
     {
@@ -543,6 +543,108 @@ public:
         memset(reinterpret_cast<void *>(&aObject), 0, sizeof(ObjectType));
     }
 
+    // Definitions of handlers to process Get/Set/Enable/Disable.
+    template <typename ValueType> using GetHandler         = ValueType (&)(otInstance *);
+    template <typename ValueType> using SetHandler         = void (&)(otInstance *, ValueType);
+    template <typename ValueType> using SetHandlerFailable = otError (&)(otInstance *, ValueType);
+    using IsEnabledHandler                                 = bool (&)(otInstance *);
+    using SetEnabledHandler                                = void (&)(otInstance *, bool);
+    using SetEnabledHandlerFailable                        = otError (&)(otInstance *, bool);
+
+    // Returns format string to output a `ValueType` (e.g., "%u" for `uint16_t`).
+    template <typename ValueType> static constexpr const char *FormatStringFor(void);
+
+    /**
+     * Checks a given argument string against "enable" or "disable" commands.
+     *
+     * @param[in]  aArg     The argument string to parse.
+     * @param[out] aEnable  Boolean variable to return outcome on success.
+     *                      Set to TRUE for "enable" command, and FALSE for "disable" command.
+     *
+     * @retval OT_ERROR_NONE             Successfully parsed the @p aString and updated @p aEnable.
+     * @retval OT_ERROR_INVALID_COMMAND  The @p aString is not "enable" or "disable" command.
+     *
+     */
+    static otError ParseEnableOrDisable(const Arg &aArg, bool &aEnable);
+
+    // General template implementation.
+    // Specializations for `uint32_t` and `int32_t` are added at the end.
+    template <typename ValueType> otError ProcessGet(Arg aArgs[], GetHandler<ValueType> aGetHandler)
+    {
+        static_assert(
+            TypeTraits::IsSame<ValueType, uint8_t>::kValue || TypeTraits::IsSame<ValueType, uint16_t>::kValue ||
+                TypeTraits::IsSame<ValueType, int8_t>::kValue || TypeTraits::IsSame<ValueType, int16_t>::kValue ||
+                TypeTraits::IsSame<ValueType, const char *>::kValue,
+            "ValueType must be an  8, 16 `int` or `uint` type, or a `const char *`");
+
+        otError error = OT_ERROR_NONE;
+
+        VerifyOrExit(aArgs[0].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
+        OutputLine(FormatStringFor<ValueType>(), aGetHandler(GetInstancePtr()));
+
+    exit:
+        return error;
+    }
+
+    template <typename ValueType> otError ProcessSet(Arg aArgs[], SetHandler<ValueType> aSetHandler)
+    {
+        otError   error;
+        ValueType value;
+
+        SuccessOrExit(error = aArgs[0].ParseAs<ValueType>(value));
+        VerifyOrExit(aArgs[1].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
+
+        aSetHandler(GetInstancePtr(), value);
+
+    exit:
+        return error;
+    }
+
+    template <typename ValueType> otError ProcessSet(Arg aArgs[], SetHandlerFailable<ValueType> aSetHandler)
+    {
+        otError   error;
+        ValueType value;
+
+        SuccessOrExit(error = aArgs[0].ParseAs<ValueType>(value));
+        VerifyOrExit(aArgs[1].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
+
+        error = aSetHandler(GetInstancePtr(), value);
+
+    exit:
+        return error;
+    }
+
+    template <typename ValueType>
+    otError ProcessGetSet(Arg aArgs[], GetHandler<ValueType> aGetHandler, SetHandler<ValueType> aSetHandler)
+    {
+        otError error = ProcessGet(aArgs, aGetHandler);
+
+        VerifyOrExit(error != OT_ERROR_NONE);
+        error = ProcessSet(aArgs, aSetHandler);
+
+    exit:
+        return error;
+    }
+
+    template <typename ValueType>
+    otError ProcessGetSet(Arg aArgs[], GetHandler<ValueType> aGetHandler, SetHandlerFailable<ValueType> aSetHandler)
+    {
+        otError error = ProcessGet(aArgs, aGetHandler);
+
+        VerifyOrExit(error != OT_ERROR_NONE);
+        error = ProcessSet(aArgs, aSetHandler);
+
+    exit:
+        return error;
+    }
+
+    otError ProcessEnableDisable(Arg aArgs[], SetEnabledHandler aSetEnabledHandler);
+    otError ProcessEnableDisable(Arg aArgs[], SetEnabledHandlerFailable aSetEnabledHandler);
+    otError ProcessEnableDisable(Arg aArgs[], IsEnabledHandler aIsEnabledHandler, SetEnabledHandler aSetEnabledHandler);
+    otError ProcessEnableDisable(Arg                       aArgs[],
+                                 IsEnabledHandler          aIsEnabledHandler,
+                                 SetEnabledHandlerFailable aSetEnabledHandler);
+
 protected:
     void OutputFormatV(const char *aFormat, va_list aArguments);
 
@@ -562,6 +664,46 @@ private:
     OutputImplementer &mImplementer;
 };
 
+// Specializations of `FormatStringFor<ValueType>()`
+
+template <> inline constexpr const char *Utils::FormatStringFor<uint8_t>(void) { return "%u"; }
+
+template <> inline constexpr const char *Utils::FormatStringFor<uint16_t>(void) { return "%u"; }
+
+template <> inline constexpr const char *Utils::FormatStringFor<uint32_t>(void) { return "%lu"; }
+
+template <> inline constexpr const char *Utils::FormatStringFor<int8_t>(void) { return "%d"; }
+
+template <> inline constexpr const char *Utils::FormatStringFor<int16_t>(void) { return "%d"; }
+
+template <> inline constexpr const char *Utils::FormatStringFor<int32_t>(void) { return "%ld"; }
+
+template <> inline constexpr const char *Utils::FormatStringFor<const char *>(void) { return "%s"; }
+
+// Specialization of ProcessGet<> for `uint32_t` and `int32_t`
+
+template <> inline otError Utils::ProcessGet<uint32_t>(Arg aArgs[], GetHandler<uint32_t> aGetHandler)
+{
+    otError error = OT_ERROR_NONE;
+
+    VerifyOrExit(aArgs[0].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
+    OutputLine(FormatStringFor<uint32_t>(), ToUlong(aGetHandler(GetInstancePtr())));
+
+exit:
+    return error;
+}
+
+template <> inline otError Utils::ProcessGet<int32_t>(Arg aArgs[], GetHandler<int32_t> aGetHandler)
+{
+    otError error = OT_ERROR_NONE;
+
+    VerifyOrExit(aArgs[0].IsEmpty(), error = OT_ERROR_INVALID_ARGS);
+    OutputLine(FormatStringFor<int32_t>(), static_cast<long int>(aGetHandler(GetInstancePtr())));
+
+exit:
+    return error;
+}
+
 } // namespace Cli
 } // namespace ot
 
diff --git a/src/cli/radio.cmake b/src/cli/radio.cmake
index 449f99612..47652d2c6 100644
--- a/src/cli/radio.cmake
+++ b/src/cli/radio.cmake
@@ -45,7 +45,7 @@ target_include_directories(openthread-cli-radio PUBLIC ${OT_PUBLIC_INCLUDES} PRI
 target_sources(openthread-cli-radio
     PRIVATE
         cli.cpp
-        cli_output.cpp
+        cli_utils.cpp
 )
 
 if(NOT DEFINED OT_MBEDTLS_RCP)