Semaphorins, which are a large family of secreted and membrane-bound molecules, were initially identified as neuronal axon-guidance signaling molecules but are now known as important key regulators for cell adhesion and motility in a wide range of organ systems, such as angiogenesis and immune response. The semaphorin receptors, neuropilins and plexins, are expressed in a variety of cell types, including neurons, endothelial cells, and cancer cells. Plexins are primarily receptors responsible for intracellular semaphorin signalings. Plexins possess an intrinsic GAP (glyceraldehyde-3-phosphate) activity for R-Ras subfamily GTPases, and this GAP activity is one of the crucial signals of semaphorins. In addition, plexins associate with a variety of signaling molecules, such as Rho GEFs and Rho GAP, and these associated molecules determine the characters of semaphorin signals. On the other hand, their signalings are critically modulated by their associated co-receptor molecules, including tyrosine kinase receptors. Semaphorins provide attractive and repulsive responses in a variety of cells, but associated coreceptors of plexins frequently hold the key to conversion between attraction and repulsion. In this chapter, we focus attention on the molecular signaling systems of plexins.