An array of geodesic lens antennas (GLAs) comprises multiple vertical radiating slots, each formed into an annulus, which are individually controlled by feeding rings. One feeding ring is provided for each of the GLA elevation elements, resulting in multiple, parallel waveguide channels that together enable elevation beam steering, thus forming a concentric stack of geodesic lenses. Accordingly, exemplary embodiments of the invention are capable of RF beam formation in azimuth and elevation by using these lenses to form, shape, and steer one or more RF beams. Each GLA in the stack forms an element in the elevation plane with separate amplitude and phase control, providing the degrees of freedom required to independently and simultaneously control azimuth and elevation beam forming and steering.