Hardware security is one of the most researched areas in the field of security. It focuses on discovering and understanding attacks and countermeasures for electronic hardware that provides the “root-of-trust” for modern computing systems upon which the software stack is built. The increasing reliance on electronic devices in our everyday life has also escalated the risks of experiencing security threats on these technologies. Students today are exposed to these devices and thus require a hands-on learning experience to be aware of the threats, solutions, and future research challenges in hardware security. Currently, there are limited opportunities for students to learn and understand hardware security. A significant factor limiting exposure to these topics is the lack of an accessible, low-cost, flexible, and ready-made platform for training students on the innards of a computing system and the spectrum of security issues/solutions at the hardware-level. In this paper, we introduce the motivation and efforts behind a course named “Hands-on Hardware Security.” The Department of Electrical and Computer Engineering at the University of Florida has been offering this course for the past three years in providing experiential learning of hardware security through a set of well-designed experiments performed on a custom hardware module. We also present, in detail, the idea of a custom-designed, easy-to-understand, flexible hardware module with fundamental building blocks that can emulate a computer system and create a network of connected devices. We refer to the module as “HaHa SEP” (Hardware Hacking Security Education Platform), and it encourages students to learn and exercise “ethical hacking,” a critical concept in the hardware security field. It is the first and only known lab course offered online, where students can perform ethical hacking of a computing system using a dedicated hardware module. This paper also provides a brief introduction to the experiments performed using this module, highlighting their significance in the field of Hardware Security. Finally, it concludes with a compilation of course evaluation survey results discussing the success of this course in engaging students’ interest in the subject matter and determining the accomplishment of maintaining a balance between their expectation and the effort required towards the course.