Electronics and control devices, in which computers are embedded, are collectively referred to as embedded system. More recently, digital consumer electronics, communications equipments and automotive equipments have come to be realized in embedded system. Embedded systems are built with the integration of different technologies such as hardware and software, and have been increasingly large and complex. Therefore, it becomes in current more important to foster the embedded system engineers who can design optimal embedded systems by integration of hardware and software. In this paper, we propose four approaches for embedded system engineering education. The curriculum based on these approaches is proposed and its effectiveness is evaluated.