Millimeter wave (mmWave) technology achieving multi-gigabits speed plays a signiﬁcant role in beyond 5G and the next 6G wireless communication networks thanks to its huge spectrum utilization and beam-based directional transmissions. To tackle temporary ultra-high data demands of hotspot areas, three-dimensional (3D) heterogeneous network (HetNet) is designed with the integration of mmWave unmanned aerial vehicles (UAV) to provide resilient instantaneous control and data transmissions. However, some critical beam-related issues for mmWave implementation of UAVs/drones are addressed including robust initial beam alignment, mobility-aware beam tracking and beam reﬁnement. In this research, we aim at developing robust and efﬁcient beam control mechanisms by implementing a prototype of 3D ﬂying heterogeneous communications. The backhaul connections operate at mmWave frequency between airship and UAV/drone, while fronthaul links adopt lower frequency bands such as Wi-Fi for multiuser data transmissions. We evaluate system performances for our proposed beam control schemes and provide a real-time prototype of 3D on-demand ﬂying mobile communication for mmWave HetNets.