As the fifth generation (5G) mobile communication systems are commercially deployed, they bring new services, enhance user experiences, and offer various opportunities to different industries. Despite its advancements, 5G encounters several challenges. To tackle these issues, global industrial, academic, and standards organizations are actively researching on sixth generation (6G) wireless communication systems. 6G networks are envisioned as a transformative shift in the interactions between the physical, digital, and human realms, paving the way for a pervasive human-centered cyber-physical world. 6G is positioned to be a platform that offers communication and beyond communication services considering both performance and value centric technological development approaches. In this paper, we present the way forward towards the design of 6G end-to-end (E2E) system as a consolidated view of leading industry stakeholders and academia in the European level 6G flagship project Hexa-X-II. We discuss the key challenges with 5G and how 6G is expected to tackle those by introducing new technological innovations and supporting novel use case requirements. We provide a comprehensive methodology for the design of a 6G E2E system including ten principles, a blueprint, and a structured design process. The architecture design principles prioritize environmental sustainability, digital inclusiveness, and trustworthiness, considering their impact on the 6G E2E system. The blueprint is described corresponding to the infrastructure, network centric application, and application layers, as well as the pervasive functionalities and the relevant technological innovations. Following the design principles and the system blueprint, the design process is demonstrated as two-way approaches (i.e., 1) key performance and value indicators based design process. 2) top-down versus bottomup alignment process) through the lens of a collaborative robot use case. Through this use case, a special attention is given to the technological enablers that cover management and orchestration functionalities and their 6G enhancement to go beyond the limitations characterizing the previous network generation. In addition, virtual modelling aspects related to digital twining and simulations for 6G E2E system design are also discussed. INDEX TERMS 6G, end-to-end, platform, system, blueprint, network architecture, design process, use case, key value indicators, key performance indicators, collaborative robots.