Although he also has written novels about Texas history, Saylor's best-known work is his Roma Sub Rosa series, set in ancient Rome. The novels' hero is a detective named Gordianus the Finder, active during the time of Sulla, Cicero, Julius Caesar, and Cleopatra. (Roma Sub Rosa is a registered trademark in the United States.)

Prior to his novel-writing career, he published gay erotic fiction under the pen name Aaron Travis. Saylor has lived with his partner Richard Solomon since 1976 and they officially registered as domestic partners in San Francisco in 1991. The couple split their time between properties in Berkeley, California, and Austin, Texas.

Published under the pen name Aaron Travis (erotic fiction):

Published under his own name: