With the rapid growth of the Internet of Things (IoT) and increasing reliance on network-connected devices, IoT security, which integrates components of hardware and cybersecurity, is more important than ever. Hence, we must improve and expand training opportunities for students in IoT security. Experiential learning is an essential component of education for engineering and cybersecurity in particular. In this work, we describe three comprehensive hands-on IoT security experiments built using off-the-shelf development boards which can provide a low-cost and accessible experiential learning opportunity for students in this area.