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A former Milwaukee draft pick, Sessions started at point guard in place of Mo Williams, who left to be with his family following the death of his father-in-law.
Chris Douglas-Roberts had 16 points for the Bucks, and former Cavaliers forward Drew Gooden added 11 points, six rebounds and three blocks.
After leading 42-40 at the half, the Cavaliers trailed for much of the fourth quarter, but closed out the game on a 25-14 run thanks to critical turnovers by the Bucks in the final 4 minutes.
Cleveland forwards Antawn Jamison and Anderson Varejao were back in the lineup for the second straight game, but guard Daniel Gibson was out with a mild neck strain and is day to day.