Bridging the gap between theory and practice remains a key challenge in engineering education, especially in embedded systems and IoT. This paper presents a hands-on framework for teaching Rapid Application Development (RAD) of sensor networks through iterative prototyping and project-based learning. The approach integrates Flipped Classroom pedagogy, modular software development, real-time hardware integration, and RAD principles, enabling students to move quickly from conceptual design to functional systems Learning activities are organized into Pre-Class, In-Class, and Post-Class phases, with instructors acting as coaches during interactive sessions. Multimedia-supported learning uses Mediathread, a collaborative annotation tool, while software development relies on the Information System Factory, a 4GL-based integrated environment. Hardware experimentation uses MatCube containers combining single-board computers, sensors, and actuators connected via I2C or WLAN. The framework is demonstrated through a project example where students design and implement a simple weather station using low-cost microcontrollers and wired/wireless modules. The system is cloud-independent, relying solely on SBCs or small networks, making it low-cost and energy-efficient for edge or resource-constrained IoT deployment. Evaluation is envisioned to address student engagement, technical skills, and system design ability. As the course has not yet been implemented, the proposed framework is currently presented as a conceptual model. However, the project developed as part of the proposed project-based learning approach has been implemented and its functionality has been functionally validated. It is anticipated that applying Rapid Application Development (RAD) principles will help bridge the gap between theory and practice, offering a scalable and adaptable approach for experiential learning in embedded systems and IoT education.