In recent years, millimeter wave (MMW) has received tremendous interest among researchers, which offers systems with high data rate communication, portability, and finer resolution. The design of the antenna at MMWs is challenging as it suffers from fabrication and measurement complexities due to associated smaller dimensions. Current state-of-the-art MMW dual-band antenna techniques demand high precision fabrication, which increases the overall cost of the system. Henceforth, the design of an MMW antenna with fabrication and measurement simplicity is quite challenging. In this paper, a simple coplanar waveguide (CPW) fed single-band MMW antenna operating at 94 GHz (W band) and a dual-band MMW antenna operating concurrently at 60 GHz (V band) and 86 GHz (E band) have been designed, fabricated, and measured. A 50 Ω CPW-to-microstrip transition has also been designed to facilitate probe measurement compatibility and to provide proper feeding to the antenna. The fabricated single frequency 94 GHz antenna shows a fractional bandwidth of 11.2% and E-plane (H-plane) gain 6.17 dBi (6.2 dBi). Furthermore, the designed MMW dual-band antenna shows fractional bandwidth: 2/6.4%, and E-plane (H-plane) gain: 7.29 dBi (7.36 dBi)/8.73 dBi (8.68 dBi) at 60/86 GHz, respectively. The proposed antenna provides a simple and cost-effective solution for different MMW applications.