Agile beam management is key for providing seamless millimeter wave (mm-wave) connectivity given the site-specific spatio-temporal variations of the mm-wave channel. Leveraging non radio frequency (RF) sensor inputs for environment awareness, e.g. via machine learning (ML) techniques, can greatly enhance RF-based beam steering. To overcome the lack of diverse publicly available multi-modal mm-wave datasets for the design and evaluation of such novel beam steering approaches, we demonstrate our software-defined radio multi-band mm-wave measurement platform which integrates multi-modal sensors towards environment-aware beam management.