See which devices can wake the machine
powercfg -devicequery wake_armed
Prevent all HID devices from waking the machine.
powercfg -devicequery wake_armed | select-string -pattern "HID" | foreach { powercfg /devicedisablewake $_ }
Sleeping
There doesn't seem to be a way without disabling hibernation.
powercfg -H off
rundll32 powrprof.dll,SetSuspendState Sleep
(if hibernation is enabled, the machine will hibernate instead of sleeping)
No Sleep Option
I did a fresh install of Windows 10 onto a Lenovo T470s. I hadn't installed the graphics driver (so Windows was using the 'Microsoft Basic Display Driver') and there was no option to sleep. Installing this driver (the file is named r0fiv17w.exe) fixed the issue. When I originally got this laptop (refurb off eBay), there was an older graphics driver installed which caused issues playing videos on e.g. Youtube.
External links
article at devblogs.microsoft.com