The company I work for offers bursaries to undergrad students. If I'm not mistaken, they even offer guaranteed industry experience by employing them afterwards. Not exactly the same as your suggestion, but on-par.
These things do exist, and higher education is not solely in the realm of government or colleges' doing. All it takes is for some sparky individual/group to implement it if the need is there. That is why it is very important to let the market price things using regular signals, instead of distorting it with government intervention.
What I mean is that currently there is a big shortage here for good software developers. So companies are willing to spend money on training up, paying college fees, whatever it takes.
On a side note. People are very wary of things such as "indenture agreements". It reminds them of slavery too much (I would hypothesize), as it seems they've conflated historically indentured workers with defacto slaves, despite consent.