Beamforming has great potential for joint communication and sensing (JCAS), which is becoming a demanding feature on many emerging platforms such as unmanned aerial vehicles and smart cars. Although beamforming has been extensively studied for communication and radar sensing respectively, its application in the joint system is not straightforward due to different beamforming requirements by communication and sensing. In this paper, we propose a novel multibeam framework using steerable analog antenna arrays, which allows seamless integration of communication and sensing. Different to conventional JCAS schemes that support JCAS using a single beam, our framework is based on the key innovation of multibeam technology: providing fixed subbeam for communication and packetvarying scanning subbeam for sensing, simultaneously from a single transmitting array. We provide a system architecture and protocols for the proposed framework, complying well with modern packet communication systems with multicarrier modulation. We also propose low-complexity and effective multibeam design and generation methods, which offer great flexibility in meeting different communication and sensing requirements. We further develop sensing parameter estimation algorithms using conventional digital Fourier transform and 1D compressive sensing techniques, matching well with the multibeam framework. Simulation results are provided and validate the effectiveness of our proposed framework, beamforming design methods and the sensing algorithms. 2 protocols, a BF design methodology, multibeam generation and updating algorithms, and sensing algorithms, to achieve large field-of-view (range in directions), flexible and accurate sensing with controllable and insignificant compromise on communication performance.Our main contributions in this paper are as follows, with a focus on multibeam with two subbeams:• We propose a system architecture and protocols for implementing multibeam JCAS technology, with the use of two analog arrays. The two arrays, spatially widely separated, are introduced mainly to suppress leakage signal from the transmitter to receiver, so that the receiver can work all the time, transiting between communication and sensing modes. The proposed framework fully complies with a conventional time division duplex (TDD) communication system and reuses the TDD timeslot. This is detailed in Section II; • We provide a BF design methodology to enable the integration of beam-scanning based sensing with fixedbeam based communication functions. We also present a generalized Least Squares (LS) BF solution for generating beams with desired shape. This is discussed in Section III; • Detailed methods for generating and updating multibeam BF vectors are developed. The methods offer flexibility in meeting different and time-varying requirements for communication and sensing, capability in constructively combining communication and sensing subbeams for communication purpose, and simplicity in updating BF vectors. The details are presented in Section IV...