After signing the deal, military leader Abdel Fattah al-Burhan said civilians should control politics and guide foreign policy.
Last year's military coup halted a power-sharing arrangement between the military and the Forces for Freedom and Change (FFC) coalition, and Sudan has been without a prime minister since the start of the year.
The takeover led to more than a year of mass protests against the military, during which security forces killed more than 100 civilians, according to a tally by medics.
[1/5] Signatory parties stand and raise signed copies of the agreement between military rulers and civilian powers in Khartoum, Sudan December 5, 2022.
International partners, who helped mediate the framework deal, say a credible civilian government is needed before assistance can be restored.