Robert Kirby's first comic zine, published in 1991, was called Strange Looking Exile. Aside from his own comics the zine also featured work by Diane DiMassa and Alison Bechdal. The zine ceased publication in 1994, at which time Kirby joined forces with fellow comic artist David Kelly to release a new comic compzine called Boy Trouble. Four issues were released in zine form, with issue five being released as a book. Contributors include Anonymous Boy, Craig Bostick, Cathy Camper, Jennifer Camper, Michael Fahy, Andy Hartzell, G.B. Jones and Nick Leonard.
Robert Kirby is also the creator of the syndicated comic strip Curbside, which appears in publications such as Chicago Nightlines, Out In the Mountains and Lavender Magazine. The collected strips have been published in two books and have been translated into Spanish for a special edition. In the early 2000's, State Representative Nancy Sheltra (R-Derby) protested the presence of the publication Out In The Mountains in the Vermont Statehouse due to Kirby's strip Curbside in the magazine, which featured two bare chested male cartoon characters kissing, which Sheltra insisted was "pornographic". The paper continued to run Kirby's comic.
- The Book of Boy Trouble, Green Candy Press, 2006
- Los Chicos De La Acera De Enfrente, Ediciones La Cupula, Coleccion Novela Grafica, 2005
- Juicy Mother, edited by Jennifer Camper, Soft Skull Press, 2005
- Boy Trouble, Boy Trouble Books, 2004
- Curbside Boys: The New York Years, Cleis Press, 2003
- Curbside, Hobnob Press, 1999