Advancements in cloud computing have helped Internet of Things (IoT) systems to enable complex and highly scalable IoT solutions in healthcare, which has led to concerns about unauthorized access to the sensitive resources of cloud-enabled IoT (CE-IoT). Traditional access control methods often cannot handle complex resource allocation and permission delegation properly, resulting in inefficiencies in access control and delegation and vulnerabilities in security. To overcome these issues, we have proposed a novel Attribute-Based Access control (ABAC)-based framework for IoT-based healthcare, enabling secure access to resources layered by utilizing a centralized policy repository. Moreover, the framework facilitates the automatic delegation of permissions based on predefined policies and attributes. The proposed framework security has undergone a comprehensive informal security analysis, confirming its effectiveness in achieving the required security. The proposed framework takes significantly less computation and communication costs compared to existing schemes.