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Middle School students in the United States are exposed to an unprecedented number of AI-driven consumer products. This exposure demands that educators help students develop their personal understandings of these technologies to engage with them responsibly. Designing age-appropriate AI curricula for middle school students calls for collaboration and partnership between computer and learning scientists, as well as middle school teachers. Over a 3-year period, we co-designed and successfully implemented an AI education curriculum across 9 geographically and economically diverse schools, offering it to a total of 1551 students. Drawing from our analyses of the curriculum and teacher and student experiences, we propose an effective format for teaching, assessing, and implementing fundamental AI education for middle school settings in the United States. Our research also highlights the value of empowering teachers through co-design; enriching their professional development and improving students’ AI literacy.