This paper is written to provide ideas and guide faculty who want to design a mathematical modeling course for undergraduate mathematics majors and minors. We discuss course goals, assignments, and projects that can be used to help students gain experience relevant for careers and mathematical modeling opportunities. The authors designed this course to build students' mathematical thought processes and toolbox, ability to analyze and evaluate mathematical models, mathematical modeling skills, and teamwork skills. The course described is intended as an upper division undergraduate course with a prerequisite of differential equations.