The van Kampen-Flores theorem states that the $d$-skeleton of a $(2d+2)$-simplex does not embed into $\mathbb{R}^{2d}$. We prove the van Kampen-Flores theorem for triangulations of manifolds satisfying a certain condition on their Stiefel-Whitney classes. In particular, we show that the $d$-skeleton of a triangulation of a $(2d+1)$-manifold with non-trivial total Stiefel-Whitney class does not embed into $\mathbb{R}^{2d}$.