Programmable system-on-chip (PSoC), which provides a microprocessor and programmable analog and digital peripheral functions in a single chip, is very convenient for mixed-signal electronic system design. This paper presents the experience of teaching contemporary mixed-signal electronic system design with PSoC in the Department of Automation, Tsinghua University, Beijing, China. An innovative teaching method was adopted, which involved designing a flexible experimental board, designing four experiments of different levels and with different teaching objectives, writing a textbook, and instructing students in out-of-class activities. This paper describes these in detail, as well as the courses in which the method was used, with their course objectives and contents. Finally, the course evaluation results and the design prizes for innovation won by students and teaching awards won by teachers are given, which confirm that this innovative teaching method is effective.