This paper presents an experimental study on mmWave beam profiling on a mmWave testbed, and develops a machine learning model for beamforming based on the experiment data. The datasets we have obtained from the beam profiling and the machine learning model for beamforming are valuable for a broad set of network design problems, such as network topology optimization, user equipment association, power allocation, and beam scheduling, in complex and dynamic mmWave networks. We have used two commercial-grade mmWave testbeds with operational frequencies on the 27 Ghz and 71 GHz, respectively, for beam profiling. The obtained datasets were used to train the machine learning model to estimate the received downlink signal power, and data rate at the receivers (user equipment with different geographical locations in the range of a transmitter (base station). The results have shown high prediction accuracy with low mean square error (loss), indicating the model's ability to estimate the received signal power or data rate at each individual receiver covered by a beam. The dataset and the machine learning-based beamforming model can assist researchers in optimizing various network design problems for mmWave networks.