Parenting a newborn is a major challenge for first-time parents owing to the frequent feeding, diaper changes, and disrupted sleep, which may increase the risk of postpartum depression and anxiety, as these conditions are influenced by hormonal, emotional, physical, and social factors. Traditional methods of preparing parents for neonatal care employ soft vinyl dolls, but these dolls do not replicate the realistic stresses of an actual newborn. Herein, we designed a robot called CryingBaby that gives parents practical experience with neonatal care. CryingBaby can drink real milk, excrete, and mimic illness symptoms, and the user cannot adjust the power or sound to enforce realistic stress levels. It includes seven mood states such as hunger, defecation, and sleepiness, which are triggered unpredictably. Additional features include visual health cues such as those for jaundice and cyanosis as well as colored waste to help the user learn to recognize and respond to the health condition of the newborn. A trial session involving participants with and without parenting experience demonstrated the effectiveness of CryingBaby at simulating difficulties with neonatal care such as soothing a crying baby, preparing milk, feeding the baby, and changing diapers. Feedback from the participants indicated that CryingBaby effectively conveyed the challenges of parenting although areas for improvement were identified such as enhancing its texture and head design. CryingBaby is a potential tool for reducing parenting anxiety, promoting shared responsibilities, and enhancing societal understanding of the challenges of neonatal care.