Waldorf Education derives from the concept of Anthroposhie (or Anthroposophy) that Austrian philosopher Rudolf Steiner put forward in 1909, and as such embodies two basic principles. The first principle is the three-fold nature of the human spirit. The second principle is the idea of the “three-fold society”. The history of Waldorf Education in Taiwan dates back to the founding of the first Waldorf Kindergarten in Taichung City in 1995. This study makes use of a documentary analysis approach. The study examines the implementation of Waldorf kindergartens in Taiwan in relation to Steiner’s education theories. The results obtained in the study suggest that Waldorf Education offers the following lessons for Taiwan’s preschool education system: (1) There is a need for vigorous educational leadership to strengthen the professional development and commitment of preschool teachers; (2) More needs to be done to enhance the positive functioning of collaboration between preschool teachers and parents, and to give parents more opportunity to participate in the process of improving the overall quality of education; (3) Greater emphasis is needed on character-building education at preschool level. (4) There is room for improvement in terms of strengthening young children’s emotional and spiritual development. (5) Preschool teacher training programs need to give more weight to teachers’ life experience. (6) More attention needs to be paid to the impact that physical education, the development of verbal skills, and environmental education can have on young children’s learning and development.