The main purpose of this study is to explore the features of Rudolf Steiner's education theory, with special focus on its emphasis on Picture-Based Learning Approach. The author analyzes theoretical contents of Rudolf Steiner's pedagogy and discusses the picture-based learning approach. Then the curriculum framework in Waldorf elementary schools in Taiwan is reviewed, and through interviews the learning experiences of the pupils of the Waldorf School are investigated. Finally, pedagogical implications were further drawn from the study, in hope that they may provide ways to enrich curriculum and instruction in Taiwan elementary school.