In this article, we present a radiation pattern measurement setup for probe-fed millimeter-wave antennas and the associated calibration procedure. Compared with other existing facilities, our setup has one major innovation: it is composed of two rotating arms allowing measuring the radiated field of a probe-fed antenna over the quasi-3D sphere. The calibration challenges and issues encountered at 60 GHz are thoroughly described. We especially detail a specific calibration procedure to improve the accuracy of the measurements. To illustrate our methodology, the 3D radiation pattern measurement of a novel monopole-type antenna etched over a glass substrate is presented. Experimental results versus simulation results are compared.