In this paper, we introduce a new paradigm for the design of transmitter space-time coding that we refer to as linear precoding. It leads to simple closed-form solutions for transmission over frequency-selective multiple-input multiple-output (MIMO) channels, which are scalable with respect to the number of antennas, size of the coding block, and transmit average/peak power. The scheme operates as a block transmission system in which vectors of symbols are encoded and modulated through a linear mapping operating jointly in the space and time dimension. The specific designs target minimization of the symbol mean square error and the approximate maximization of the minimum distance between symbol hypotheses, under average and peak power constraints. The solutions are shown to convert the MIMO channel with memory into a set of parallel flat fading subchannels, regardless of the design criterion, while appropriate power/bits loading on the subchannels is the specific signature of the different designs. The proposed designs are compared in terms of various performance measures such as information rate, BER, and symbol mean square error.