Educational inequity is widely prevalent in United States (U.S.) public schools and creates barriers to STEM education for underserved and underrepresented populations, including racial minority, low-income, and first-generation college students. Scientists at the Walter Reed Army Institute of Research (WRAIR) recognized a need in its community, the greater Washington, DC metropolitan area, to improve access to high-quality STEM education, and founded the WRAIR Gains in the Education of Mathematics and Science (GEMS) program for this purpose. In pursuit of this goal, the GEMS program engages students using innovative learning strategies and authentic STEM experiences with the hopes of fostering interest in STEM and motivating more underserved and underrepresented students to persist in STEM education and career pathways. By 1995, WRAIR scientists began investigating how to bring science-enthusiastic but novice high school (HS) students into their laboratories where they could be mentored, along with providing a stipend to mitigate financial barriers; importantly, this process was funded by two Science Education Partnership Awards from 2001-2006. Each year, WRAIR's GEMS program now guides about 600-700 local middle and HS students to take part in hands-on, inquiry-based STEM laboratory investigations led by undergraduate "near peer mentors" (NPMs), so named due to their close age to participants. GEMS is now sustained at 14 sites nationwide through the U.S. Army Educational Outreach Program, and serve about 4,000 students and near-peer mentors annually. Recent evaluations of the program explore service to underrepresented groups in STEM and growth of the local program. Further evaluation of the nationwide programs reveals positive student feedback, especially regarding working with NPMs and hands-on learning.