With the exponentially increasing traffic in the wireless radio communication, there is a continuous need for wide frequency spectrum to meet the demands of faster communication. The next generation wireless technology (5G & beyond) is a plausible solution capable to support the demands of increasing data rates and accommodate the constantly increasing traffic by exploiting larger bandwidth. It is predicted that by 2030 or sooner the cellular communication industry is going to adopt 5th generation (5G) standards. According to the Friss transmission line equation, the path loss at such high frequencies become prominent as compared to microwave frequencies. Hence, the challenge exists for designing the RF front end, especially antennas at millimeter wave frequencies with broad bandwidth and high gain. The well-known microstrip technology becomes lossy at high frequency due to the generation of surface waves and radiation losses of the unbounded microstrip line. Large waveguide-based antennas were considered initially for operation in 5G millimeter wave (mmwave) range. In past decade many novel technologies have surfaced in the planar form that enables designing light-weight RF circuits in compact form factor. The bounded Substrate Integrated Waveguide (SIW) technology reduces the surface and radiation losses but supports narrowband single mode operation. Substrate Integrated Coaxial Line (SICL) is an emerging and promising candidate with self-shielded structure that removes the drawbacks incorporated in these existing technologies. SICL is the planar implementation of rectangular coaxial line that supports single broadband TEM mode of propagation. The radiation losses in SICL are minimized compared to the microstrip and stripline technology. Additionally, SICL provide wideband unimodal TEM operation, which is not achievable in SIW technology. The work proposed in this thesis focusses on design and implementation of microwave and millimeterwave antennas and arrays using SICL technology. Firstly, dipole antenna-based designs are developed to achieve wide bandwidth. Certain design techniques are followed to realize broadband dipole antenna and wideband quasi-Yagi antenna, bow-tie antenna. SICL based cavity backed slot antenna (CBSA) is designed and developed at mmwave frequencies in much compact footprint while exhibiting high front-to-back ratio (FTBR) and polarization purity. To deploy the antennas for 5G mmwave applications, high gain antenna arrays are developed. Novel crossed dipole antennas and half mode SICL cavity-based antenna arrays are proposed that exhibit wide band performance to meet the requirements of 5G communication. Further, reconfigurability in bandwidth, polarization, direction, etc. has been achieved in the antenna using diodes, switches, etc. These antennas and arrays are designed to cover the 3GPP n257, n258 and n261 FR2 bands that make them suitable for practical 5G deployment. To establish a satisfactory link of the end users with the access point, 360° beam coverage is achieved in SICL based MIMO antenna arrays (for upcoming 5G/6G) with high isolation performance. Lastly, a MIMO array with novel feed line is designed that supports simultaneous 10/28 GHz transmission for futuristic 5G & beyond communication. SICL is expected to become a popular attractive candidate for designing antenna arrays especially where small form factor is preferred as in modern hand-held devices and customer premises equipments (CPE).