The advances of artificial intelligence (AI) have impacted and opened opportunities for almost every single industry. Meanwhile, it also holds potential to address pressing societal issues such as traffic, climate change, and poverty. It is therefore crucial to educate the next generation of students from various disciplines to be capable of practical AI skills while having the awareness and confidence to innovatively contribute to their communities. We introduce the AI for Social Good (AI4SG) project that aims to teach AI through the lens of social good to students of multiple disciplines. We deployed the AI4SG curriculum among 514 undergraduate students in management information systems, geography, and computer science at three universities. Students reported increased level of interest and curiosity in learning AI, appreciated project-based learning, and developed learning space within and beyond their classroom.