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In this paper, a project-based learning strategy is proposed as a pedagogical tool for embedded system education targeting for undergraduate engineering students. The proposed project-based learning can motivate students to integrate and formulate the multi-disciplinary knowledge previous learned into a real-world embedded system project development. To investigate the effectiveness of the project-based learning, a post-project review is conducted for groups of junior-year engineering students participating in embedded system projects development. Post-project review results shown that the knowledge and skill build in earlier learning play major role in the embedded system project development. Evidences also shown that situational factors, such as project subject selection, learning curve of individuals and capability of working under time pressure, are considered influential to the effectiveness of project-based learning in embedded system education as well.