We present a model-based testing approach to support automated test generation with domain-specific concepts. This includes a language expert who is an expert at building test models and domain experts who are experts in the domain of the system under test. First, we provide a framework to support the language expert in building test models using a full (Java) programming language with the help of simple but powerful modeling elements of the framework. Second, based on the model built with this framework, the toolset automatically forms a domain-specific modeling language that can be used to further constrain and guide test generation from these models by a domain expert. This makes it possible to generate a large set of test cases covering the full model, chosen (constrained) parts of the model, or manually define specific test cases on top of the model while using concepts familiar to the domain experts.