I don't know about any classes, per say, in the Edina area, but one option could also be to get memberships to places so you can go whenever you want. There is the Minnesota Zoo in Apple Valley, The Children's Museum in St. Paul and The Science Museum in St. Paul (although I would wait a few years for that.)
There is also Edinborough Park which I think you can go for free as a resident, Toddler Tuesdays at Mall of America. Check out the Three Rivers Park District--is it Richardson that if in Bloomington? They have classes, and you can just stop in to check it out. Get a Minnesota Parent magazine every month at the library. There is also stuff going on in there.
I know these are not classes, but childhood is about experiences. Some will be awesome, and some may not work at all, but there is a lot out there.