Yes, it was! The course is called CS 135: Designing Functional Programs [1]. I really enjoyed it, though I think most of the first years hated the course. Most people come to school having experience with imperative languages like Python and Java. When they got to recursion in Racket they really struggled!
I happen to own a copy of HTDP which I bought for the course. It's a suggested textbook but not required at all. I haven't had time to go through it though.
[1]https://htdp.org