Predictive maintenance aims to develop methods that are capable of predicting component failure before it occurs. Virtual sensing methods predict unmeasured physical quantities from available measurement data. These methods offer significant benefits to predictive maintenance, since virtual sensors can be used to estimate quantities that are difficult to measure. In many real applications, the time to failure is in the range of years, complicating the development and validation of predictive maintenance and virtual sensing approaches. This dataset provides a demonstrator example where failure occurs based on individual load histories. The sensor setup consists of simple notched steel specimens, which are clamped between two servo-hydraulic cylinders of a fatigue test bench. It is designed to provide a virtual sensor use case with independent training and testing data, so that the dataset can be used for algorithm development and benchmarking purposes.