What is the best way to learn Embedded Hardware Design? Should one just start a course on PCB design or is their specialised material on embedded hardware design? Keeping in mind that I have an electronics background and familiar with the basics.
Designing "embedded hardware" is a very broad realm. I would start a general study by examining application notes from the IC manufacturers that make the ICs that would go into the embedded systems. Of course a serious background in circuit design is also mandatory.