New paradigms such as the Industry 4.0, the Industrial Internet of Things (IIoT), or industrial cyber-physical systems (ICPSs) have been impacting the manufacturing environment in recent years. Nevertheless, these challenging concepts are also being faced from the educational field: Engineering students must acquire knowledge and skills under the view of these frameworks. This paper describes the utilization of an Industry 4.0-oriented flexible manufacturing system (FMS) as an educational tool to develop final projects (FPs) of engineering degrees. A number of scopes are covered by an FMS, such as automation, supervision, instrumentation, communications, and robotics. The utilization of an FMS with educational purposes started in the academic year 2011–2012 and still remains active. Here, the most illustrative FPs are expounded, and successful academic outcomes are reported. In addition, a set of initial considerations based on the experience acquired by the FP tutors is provided.