Paper Mechatronics is a new design medium for learning by making that integrates traditional papercrafting with mechanical, electrical, and computational components, adding to the creative possibilities of traditional papercrafting. This dissertation presents computational design tools and prototyping techniques to enable novices to build their own Paper Mechatronics, and discusses lessons learned from working with children, educators, and fellow researchers. This work establishes a foundation for Paper Mechatronics as a medium to enable creative learning and open a discourse on tools and techniques to broaden access to exploratory construction, thus promoting creativity.