[izgzhen]

Typically publicly traded companies have trading window limitations for its employees, and one purpose is to avoid insider trading risks. But that works for “normal engineer”. Executives who have more privileged info might need to consult their lawyers case by case.

[ehsankia]

One common approach also it to have auto-sell, which will automatically sell your stock on a schedule which is set long in advance, so there's no suspicion of insider trading. Honestly I think that should be the only way to sell stocks of your own company, either that or schedule a sale at least a quarter in advance.