To supply low-cost and high-precision ground gears, the CNC gear form-grinding machine with the truing attachment was developed. The grinding machine can finish spur and helical gears with an arbitrary profile and with a three-dimensionally modified tooth surface by using the supporting software developed at the same time. The structure of the grinding machine was determined so that positioning errors between the grinding wheel and work gear do not affect profile errors of ground gears, and that number of control axes becomes as small as possible. The grinding wheel is trued accurately on the machine by a single-point diamond dresser, of which the direction is controlled corresponding to the normal direction of the grinding-wheel profile. The accuracy of the gears finished on the grinding machine were better than 0 class of JIS and the surface roughness of the ground gears were lower than 1 μmRmax.