A major benefit of educational robotics is its hands-on nature. This makes the learning process more compelling for most students, and underscores the connection between science, technology, engineering, and math (STEM) theory and physical reality. Educational haptics takes this premise a step further: haptic devices that provide force and tactile feedback to the student are programmed to generate physical interactions that improve student intuition for STEM subjects. Haptic devices also emphasize the need for interdisciplinary robotics education, and can inspire even very young students to enter STEM fields. In this paper, a variety of methods used by Johns Hopkins University researchers to incorporate haptic devices and simulations into undergraduate, graduate, and grade school curricula are reported.