We demonstrate gravitational coupling between two gold spheres of radius r ≈ 1 mm and mass m ≈ 90 mg. By periodically modulating the source mass position at a frequency f mod = 12.7 mHz we generate a time-dependent gravitational acceleration at the location of the test mass, which is measured off resonance in a miniature torsional balance configuration. Over an integration time of 350 hours the test mass oscillator enables measurements with a systematic accuracy of 4×10 −11 m/s 2 and a statistical precision of 4 × 10 −12 m/s 2 . This is sufficient to resolve the gravitational signal at a minimal surface distance of 400 µm between the two masses. We observe both linear and quadratic coupling, consistent in signal strength with a time-varying 1/r gravitational potential. Contributions of non-gravitational forces could be kept to less than 10 % of the observed signal. We expect further improvements to enable the isolation of gravity as a coupling force for objects well below the Planck mass. This opens the way for precision tests of gravity in a new regime of isolated microscopic source masses.