You'll need to add these 3 dependencies to your project (or the versions for scala 2.12, if that's the version of scala you're using):
<dependency>
<groupId>org.apache.flink</groupId>
<artifactId>flink-test-utils-junit</artifactId>
<version>${flink.version}</version>
</dependency>
<dependency>
<groupId>org.apache.flink</groupId>
<artifactId>flink-streaming-java_2.11</artifactId>
<version>${flink.version}</version>
<scope>test</scope>
<type>test-jar</type>
</dependency>
<dependency>
<groupId>org.apache.flink</groupId>
<!-- with Flink 1.14+, this is flink-runtime -->
<artifactId>flink-runtime_2.11</artifactId>
<version>${flink.version}</version>
<scope>test</scope>
<type>test-jar</type>
</dependency>
Note also that since Flink 1.14, the flink-runtime is scala-free, so with newer versions of Flink, remove the "_2.11" from the flink-runtime dependency.
The Flink training exercises include examples of tests that use harnesses, such as RidesAndFaresUnitTest.