Although online education has become a viable and major component of higher education in many fields, its employment in engineering disciplines has been limited. COVID-19 pandemic compelled the global and abrupt conversion of conventional face-to-face instruction to the online format. The negative impact of such sudden change is undeniable. Urgent and careful planning is needed to mitigate pandemic negative effects on engineering education, especially for vulnerable, disadvantaged, and underrepresented students who have to deal with additional challenges (e.g. digital equity gap). To enhance engineering online instruction during the pandemic era, we conducted an observational study at California State University, Long Beach (a minority-serving institution). 110 faculty and 627 students from six engineering departments participated in our surveys and answered quantitative and qualitative questions to highlight the challenges they experienced during the online instruction in Spring 2020. In this work, we present the results of these surveys in detail and propose solutions to address the identified issues including logistical, technical, learning/teaching challenges, assessment methods, and hands-on training. As the pandemic continues, sharing these results with other educators can help with more effective planning and choice of best practices to improve the online engineering education during COVID-19 and beyond.