  Adiabatic evolution is a common strategy for manipulating quantum states and
has been employed in diverse fields such as quantum simulation, computation and
annealing. However, adiabatic evolution is inherently slow and therefore
susceptible to decoherence. Existing methods for speeding up adiabatic
evolution require complex many-body operators or are difficult to construct for
multi-level systems. Using the tools of Floquet engineering, we design a scheme
for high-fidelity quantum state manipulation, utilizing only the interactions
available in the original Hamiltonian. We apply this approach to a qubit and
experimentally demonstrate its performance with the electronic spin of a
Nitrogen-vacancy center in diamond. Our Floquet-engineered protocol achieves
state preparation fidelity of $0.994 \pm 0.004$, on the same level as the
conventional fast-forward protocol, but is more robust to external noise acting
on the qubit. Floquet engineering provides a powerful platform for
high-fidelity quantum state manipulation in complex and noisy quantum systems.
