In this paper, we design and implement a 60-GHz band dipole array antenna with a beam for horizontal direction for a substrate. Several substrates are used to configure the array. The substrates are vertically stacked using 3-D SiP technology to form the beam. The proposed antenna structure is designed by numerical analysis and electromagnetic field analysis. Then the validity of the antenna structure is confirmed by beam steering experiments. As a result, 4$\times$4 antenna configuration can realize the beamforming with 10\,dBi gain and scan angle of 90$^\circ$ for both $\theta$ and $\phi$ direction.