In this paper, we present the design, implementation, and evaluation of a system that executes complex event queries over real-time streams of RFID readings encoded as events. These complex event queries filter and correlate events to match specific patterns, and transform the relevant events into new composite events for the use of external monitoring applications. Stream-based execution of these queries enables time-critical actions to be taken in environments such as supply chain management, surveillance and facility management, healthcare, etc. We first propose a complex event language that significantly extends existing event languages to meet the needs of a range of RFID-enabled monitoring applications. We then describe a query plan-based approach to efficiently implementing this language. Our approach uses native operators to efficiently handle query-defined sequences, which are a key component of complex event processing, and pipelines such sequences to subsequent operators that are built by leveraging relational techniques. We also develop a large suite of optimization techniques to address challenges such as large sliding windows and intermediate result sizes. We demonstrate the effectiveness of our approach through a detailed performance analysis of our prototype implementation as well as through a comparison to a state-of-the-art stream processor.