The field of human-robot interaction (HRI) addresses the design, understanding, and evaluation of robotic systems, which involve humans and robots interacting through communication. As the field matures, education of students becomes increasingly important. Courses in HRI provide the canonical set of knowledge and core skills that represent the current state of the field and permit the evolution of knowledge and methods to be transferred from research to a broad set of students. In addition, coursework in HRI creates a workforce capable of transferring HRI theory to practice. However, as would be expected with an emerging field, HRI courses are largely ad hoc. This article summarizes the discussion and findings from the "Teaching Humans About Human-Robot Interaction" workshop on the development of an HRI course for computer scientists and engineers.