The authors of the book, Real-Time Digital Signal Processing: from MATLAB to C with the TMS320C6x DSPs, have published a variety of articles on topics related to DSP education. Most of these articles describe various ways in which a hands-on approach to teaching or learning real-time DSP can be implemented at fairly low cost, and how that approach tends to be very effective for a wide cross-section of students.
A list of many of these DSP articles can be found here.
Our early conference and journal papers about real-time DSP generated considerable enthusiasm, and led to requests that the ideas be incorporated into a book. That's what motivated us to write the first edition of our book, which was very well received and adopted by many universities, large and small. Based on all the requests for an availablity date, we think the second edition will also be popular.