No, I haven't, but common sense and tips from moms and dads trump classes, IMO. Of course, that only applies to families who have common sense.
Even armed with that, one of my children decided to dip her finger into the dishwasher detergent I had just placed in the door. Bad move. She burned her throat and I called poison control. All ended up well despite a scary situation.
My 2-year-old son stood on his little locomotive, behind my back, because he was curious about the flame on the gas range. That was unpredictable and I was upset that he burned his finger.
It is a balancing act to protect our children without smothering them.
Some people find it hard to believe that there are actually people out there who can be excellent parents without taking any classes, reading parenting books, or any other mass marketed outside influences.