The announcement follows his exit from Murrayfield after what was termed 'restructuring' by the SRU.
He assumes the role under the head coach Graeme Young at Bridgehaugh, having worked with Edinburgh as both assistant coach and interim head coach at his old club, Boroughmuir. Edwards, who played in the back row for Scotland B representative and was a regular member of North and Midlands teams, has considerable knowledge to bring to his new job.
"Henry was keen to get back involved with coaching at club level," said Ray Mountford, the Stirling president. "During the past few years he was instrumental in mentoring Graeme to achieve his Level 3 accreditation, forging a relationship that can only benefit players fortunate enough to play for this club."
Stirling finished fourth in the RBS Premiership and will play in the British and Irish Cup next season if, as seems probable, Scotland have four places in the competition.