Based on the research of the generating rack and cutting method of the cylindrical gear, a two position single face double milling method for the machining of the cylindrical gear was proposed. The equation of tooth surface of cylindrical gear was established based on the machining method of rotary cutter disc. Based on the idea of two station single side machining, a special cylindrical gear milling machine was designed. After cutting processing, it is verified that the machine has the advantages of high efficiency and high reliability.