This paper proposes an ultra-wideband double-directional spatio-temporal channel sounding technique using transformation between frequency- and time-domain (FD and TD) signals. Virtual antenna arrays, composed of omnidirectional antennas and scanners, are used for transmission and reception in the FD. After Fourier transforming the received FD signals to TD ones, time of arrival (TOA) is estimated using a peak search over the TD signals, and then angle of arrivals (AOA) and angle of departure (AOD) are estimated using a weighted angle histogram with a multiple signal classification (MUSIC) algorithm applied to the FD signals, inverse-Fourier transformed from the TD signals divided into subregions. Indoor channel sounding results validated that an appropriate weighting reduced a spurious level in the angle histogram by a factor of 0.1 to 0.2 in comparison with that of non-weighting. The proposed technique successfully resolved dominant multipath components, including a direct path, a single reflection, and a single diffraction, in line-of-sight (LOS) and non-LOS environments. Joint TOA and AOA/AOD spectra were also derived from the sounding signals. The spectra illustrated the dominant multipath components (agreed with the prediction by ray tracing) as clusters.