A theoretical and experimental study on a 94 GHz low-voltage, low-current gyrotron is presented in this paper. In order to obtain stable radiation and make great use of the equipment in the lab, the TE 6,2 mode is selected as the operating mode of the desired gyrotron. The efficiency of the electron beam interaction with RF fields under different conditions has been calculated by a code, which is based on the self-consistent nonlinear theory for gyrotrons. The gyrotron is equipped with a single-stage depressed collector and a quasi-optical mode converter. Then, a gyrotron with optimized parameters has been designed, constructed, and tested. An output power of 23 kW is obtained at an accelerating beam voltage of 31.5 kV, a beam current of 1.8 A, and a collector depression voltage of 7.4 kV, corresponding to an overall efficiency of 53%.