Digital Peer-Tutoring is a new learning format that enables production workers in Small to Medium Sized Enterprises (SMEs) to co-design their interaction with assistive technologies such as collaborative robots. The video-based learning format is based on design thinking and helps shop floor workers create and document solutions to robot interaction problems, and share their how-to knowledge with their colleagues. Early field evaluation results indicated that workers benefit from the Digital Peer-tutoring learning format and produced how-to videos for their colleagues. Furthermore, the Digital Peer-tutoring learning format was also found useful by the company management and ownership as means of documentation and customer communication. Thus, the learning format can also support SMEs on their path to digitalization.