An entrepreneurial mindset is a special attitude or cognitive pattern enabling people to recognize opportunities in changes, and act in uncertain environments and without regard to the resources that are currently under their control. People with an entrepreneurial mindset actively shape their own future and our society. Fostering an entrepreneurial mindset is therefore not only relevant for the education of future founders; it is the key to harnessing the opportunities of technological development in such a way that we change our society for the better. This chapter discusses the significance, antecedents, and elements of an entrepreneurial mindset, and explores which didactic methods can be used to promote it in higher education. The authors describe their own experiences with the method of challenge-based learning, a further permutation of experiential learning that supports the development of an entrepreneurial mindset. The benefits of the approach will be discussed in the context of related educational theory and educational psychology to show that challenge-based learning can lead to innovative formats and can also be integrated into traditional settings, including courses that are not related to entrepreneurship at all.