We report on the development of an undergraduate biomedical physics course at Portland State University, motivated by both student interest and the desire of the university's Physics Department to provide an interdisciplinary intermediate-level physics course. The course was developed through the community engagement of physicians, clinical researchers, and basic science researchers. Class meetings were a combination of regular and guest lectures, hands-on exercises, web-based activities, class discussions, and a student poster information session for patrons at a local science museum. The course inspired students to engage in research projects in biomedical physics that enhance their understanding of science and education as well as benefit the learning of future students. Furthermore, this course offers an opportunity for traditionally underrepresented groups in physics courses, such as women, to gain additional exposure to physics.