Embedded systems are becoming increasingly complex, as typical system components, such as sensors and other specialized processors, are blended together with more traditional microprocessors to form complex systems-on-chips (SoCs). Teaching undergraduate students to understand concepts and technologies behind embedded systems is important in order to prepare these future engineers with the skills and expertise necessary for designing such complex systems. This paper describes an undergraduate course designed to introduce students to embedded system design concepts and challenges in an engaging and effective manner. Our course uses a combination of in-depth laboratory assignments and topical lectures to provide a unique hands-on education for students. Laboratory assignments utilize Avnet’s ZedBoard platform, a development board built around Xilinx’s Zynq-7000 SoC, and require students to solve a variety of embedded system challenges from a range of application domains. Overall, student feedback about the course has been positive.