Steel angle frame reinforced concrete (SARC) beam is a kind of composite beam with encased steel angle frame. The torsion tests were carried out on six SARC beams and one reinforced concrete (RC) beam to investigate their torsional behavior. Test variables include space between steel plates, angle of steel plates, concrete cover depth, and concrete strength. The results showed that the reduction of space between steel plates causes specimens to crack in advance, but improves torsional behavior after cracking markedly. The energy dissipation coefficient reduces as concrete cover depth increases. Damage index can be effectively reduced by increasing concrete strength, reducing plates spacing, and increasing concrete cover depth. The overall torsional behavior of SARC beam can be improved by reducing the spacing between the plates, adopting staggered vertical and oblique steel plates, and increasing concrete strength, but the effect is adverse when concrete cover depth increases. Moreover, the space between steel plates should be greater than 100 mm, and concrete cover depth should be less than 35 mm for maximizing the torsional strength of steel angle frame. Considering the positive roles of steel angle frame and oblique steel plates, the calculation methods of cracking and ultimate torsional moment were proposed. This study can provide a theoretical basis for the engineering application of SARC beams subjected to torsion.