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Immersive virtual reality (IVR) has affordances to generate authentic learning environment in an immersive virtual world that may stimulate knowledge creation and skills transfer. This study adapted Kolb’s experiential learning theory to design and develop an IVR-supported experiential learning model (IVR-ELM), which was implemented in a middle-school STEAM course. A quasi-experimental method with quantitative and qualitative results indicated that, compared to the traditional instruction, the IVR-ELM had positive effects on young learners’ cognitive competencies achievement, and they perceived better experience in learning engagement, interest, and competency. The IVR-supported experiential activities were valued by the students and prompted integrated learning and knowledge transfer among learners.