We started saving as soon as DS was born. I'm at home with DS, so we're a single professional income household for now, but we're targeting payment for DS' full undergraduate tuition, room and board, and an entertainment allowance at a Canadian university. The American prices are, frankly, astronomical by comparison, and I'm not convinced that they carry any more weight than a top Canadian university domestically.
If DS is anything like us, he'll have an opportunity to do a graduate degree wherever he likes, at little to no personal cost. I see that as the appropriate time for foreigners to target an American education if there is uncertainty around the family's ability to pay out of pocket, as could be the case with us if I remain a stay-at-home parent for an extended duration.