This paper presents a set of guidelines to facilitate in the design of engineering education in the context of I4.0 and I5.0. Based on current trends, the paper examines the evolving expectations for engineering competencies, considering technological changes and a shift towards more human-centric, sustainable, and resilient industrial systems. Through the integration of a Learning Factory and experiential learning, the authors propose a pedagogical framework tailored to the expectations of higher education and modern industry. Through a multifaceted learning domain, interdisciplinary skills, digital fluency, and soft skills, such as creativity and collaboration, are fostered to prepare engineers for the complexities of future industrial work. The guidelines are informed by literature analysis and practical insights drawn from academic-industry collaborations, to bridge the gap between theoretical education and real-world application.