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A method for gain measurement of embedded on-chip antennas in mmW/THz range is presented. In this method, the radiation pattern is first measured in a quasi-optical configuration using a power detector. Subsequently, the radiated power is estimated from the integration over the radiation pattern. Finally, the antenna gain is obtained from measurement of a two-antenna system. The experimental results of applying this method on an on-chip planar dipole with substrate lens are demonstrated, and verified against simulation. A radiated power of around 40 μW and measured gain of 17 dB are reported at 180 GHz for this antenna structure.