This paper introduces a novel framework aimed at supporting non-education faculty and facilitators in creating inclusive educational programs and learning opportunities that address the needs, interests, and priorities of underrepresented individuals and communities in the field of STEM. The framework centers on the fundamental concept of understanding the learner's "why" to assist faculty in developing effective teaching strategies. The article outlines how this framework can be applied in various academic settings and contexts and provides educators and program facilitators with guidance to foster meaningful student connections. Each element of the framework is discussed, accompanied by a set of reflective questions that encourage educators to rethink and redesign their educational experiences. Furthermore, the paper illustrates the practical application of the framework through three distinct case studies that include a project-based learning program for high school students, a college undergraduate STEM course, and a summer research experience for undergraduates. By employing this framework, educators and facilitators can enhance their pedagogical practices, ensuring that traditionally marginalized voices and perspectives are elevated, acknowledged, and valued within STEM education. Ultimately, this work can contribute to a more equitable and inclusive educational landscape, fostering increased engagement and success among underrepresented learners in STEM fields.