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.