In this paper, we present a radiation pattern measurement setup for probe-fed millimeter-wave antennas and the associated calibration procedure. Compared to 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 dedicated calibration procedure to improve the accuracy of the measurements. To illustrate our methodology, the 3D radiation pattern measurement of a monopole-type antenna etched over a glass substrate is presented. Experimental results are compared versus simulation results.