Propagation of harmonic Lamb waves in plates made of functionally graded materials (FGM) with transverse inhomogeneity is studied by combination of the Cauchy six-dimensional formalism and matrix exponential mapping. For arbitrary transverse inhomogeneity a closed form implicit solution for dispersion equation is derived and analyzed. Both the dispersion equation and the corresponding solution resemble ones obtained for stratified media. The dispersion equation and the corresponding solution are applicable to media with arbitrary elastic (monoclinic) anisotropy.