The current industrial revolution demands a revolution on teaching methodologies at all levels, particularly for higher education. Here, we present an efficient model to teach technologies associated with Industry 4.0 (I4.0) in undergraduate engineering courses. The first step was identifying the main skills required for an I4.0 practitioner and how those subjects are currently taught worldwide. Then, a multicriteria model is created to identify the appropriate teaching strategy. From this, a framework of a differentiated model for studying Industry 4.0-related subjects was created, which was labelled Educational Test Bed 4.0. Finally, this educational framework was applied at the Federal University of Technology -- Paraná (UTFPR) undergraduate courses, with effective outcomes and improvement over previous methodologies, becoming part of the engineering curriculums.