This article reviews andragogy as the philosophy resident in the broad arena of experience-based learning. Beneath the umbrella of experience-based learning lie the specific classroom orientations of student-centered learning, problem-based learning, and classrooms as organizations. These orientations contribute to the creation of autonomy-supportive classrooms that focus more fully on student experience as a means to greater learning. The exhaustive review of the literature on student experience in teaching environments is the foundation for claims to fuller integration of this approach and discussion that focuses on the student as the original reason for the existence of the classroom. The article closes with a call for more student-focused andragogy, its relevance for Millennial learners, and recommendations for educators. (Contains 1 figure.)