Background: Music-supported therapy (MST), a type of biofeedback therapy with multi-sensory information input, has been proposed as an effective approach to improving motor control in people with sensorimotor deficits. However, currently, MST training is restricted to being extensively applied for patients with various levels of defects in fine motor skills and cognitive functions. Therefore, the integration of passive haptic learning (PHL) with MST has been adopted as a motor training strategy intended to enhance “motor memory” learning through the use of vibration stimuli. The current study was designed to investigate differences in the sensorimotor performance of older adults’ hands under baseline, a single session of standard MST, and PHL-based MST conditions. Methods: Thirty healthy older adults were recruited and randomized to receive either the single session of 30-minutes of PHL-based MST or 30-minutes of standard MST at the beginning of the experiment. After a one-week washout period, they switched their treatment programs and then were assessed to study the training effects of both approaches through measuring precision pinch performance, hand function, and sensory status. Results: The results of the Pinch-Holding-Up Activity test revealed a statistically significant difference in the FRpeak parameter (F = 14.37, p < 0.001, η² = 0.507) under the PHL-based MST condition compared to the baseline and standard MST conditions. In addition, significant beneficial effects were found on the results of the barognosis (F = 19.126, p < 0.001, η² = 0. 577) and roughness differentiation subtests (F = 15.036, p < 0.001, η² = 0.518) in the Manual Tactile Test for the participants in the PHL-based MST group. In addition, the participants under both the standard MST and PHL-based MST conditions exhibited better performance in the three subtests of the Purdue Pegboard Test as compared to under the baseline condition (p < 0.016). Conclusions: The findings indicated that PHL-based MST potentially improves the precision pinch performance of hands in healthy older adults. In addition, the add-on effect of vibrotactile stimulation to the MST condition provides beneficial effects on the sensory functions of the upper extremities. Clinical Trial Registration: NCT04802564