This paper outlines a generic guideline for planning and implementing an actionbased and transnational course in higher education for training the engineering competencies required in a future dynamic European workplace and economy. This guidance is intended for universities, research and teaching institutes, as well as for companies interested in establishing novel teaching concepts by closing the gap between know-how and experience. The guideline will provide suggestions and lessons learned for the realization of an efficient and effective implementation. Important development phases of the guideline are explained through a use case based on a master course, which has been jointly established in cooperation by four European universities. Learning objectives for this course aim at raising the awareness about sustainable value creation by focusing on the development of sustainable and technological innovations with entrepreneurial objectives.