The theoretical and experimental investigations on gear drive with tubular meshing surfaces are studied in this paper. Based on the theory of conjugate curves, parametric design for tubular tooth profiles is provided, and solid models are established. The performance evaluation of tubular meshing surfaces is carried out according to geometric and meshing characteristics analysis. The meshing essence of tubular tooth surfaces is revealed. Mechanics property of tooth surfaces is analyzed by finite element model. The contact stress, meshing law and deformation of tooth surfaces are introduced, respectively. Transmission efficiency experiment is made based on the developed gear prototype, and a comparison with involute gear drive is also shown. The further study on the dynamics analysis and key manufacturing technology will be carried out, and it is expected to have excellent transmission performance.