In this paper we provide stabilization criteria for a class of nonlinear systems with time-varying state and input delays. The nonlinear system is assumed to be separable into a nominal linear part and an additive nonlinear perturbation satisfying the linear growth constraint. The time-varying delays as well as their time derivatives are assumed to be bounded above. A linear state-feedback controller is chosen to close the control loop. The validation of this approach is carried out through two simulation examples. The first example uses a theoretical model with all the conditions established in our main result. The second simulation consists of an attitude control problem using Modified Rodrigues Parameters.