For most US engineering graduate programs, a bachelor’s degree in that engineering field is the preferred undergraduate preparation. Some may be flexible with other bachelor’s degrees, though the further the bachelor’s degree field is from the field of the graduate program, the less likely admission tends to be, and the more likely the student will need to take “catch up” courses.
For Professional Engineer licensing, completing an ABET* accredited degree is at least strongly favored, and most such degree programs are bachelor’s degree programs.
*Engineers Canada is the analogous accrediting organization in Canada. EC and ABET have a mutual recognition agreement: https://www.abet.org/global-presence/mutual-recognition-agreements/