Self-folding converts two-dimensional (2D) sheets into three-dimensional (3D) objects in a hands-free manner. This paper demonstrates a simple approach to self-fold commercially available, millimeter-thick thermoplastic polymer sheets. The process begins by first stretching poly(methyl methacrylate) (PMMA), polystyrene (PS), or polycarbonate (PC) sheets using an extensometer at elevated temperatures close to the glass transition temperature (Tg) of each sheet. Localizing the strain to a small strip creates a “hinge,” which folds in response to asymmetric heating of the sheet. Although there are a number of ways to supply heat, here a heat gun delivers heat to one side of the hinge to create the necessary temperature gradient through the polymer sheet. When the local temperature exceeds the Tg of the polymer, the strain in the hinged region relaxes. Because strain relaxation occurs gradually across the sheet thickness, the polymer sheet folds in the direction toward the heating source. A simple geometric model predicts the dihedral angle of the sheet based on the thickness of the sheet and width of the hinge. This paper reports for the first time that this approach to folding works for a variety of thermoplastics using sheets that are significantly thicker (∼10 times) than those reported previously.