Gear tooth chamfering has a crucial impact on the gear service life and performance. Common methods for tooth chamfering generally have issues such as low processing efficiency, long adjustment time, and uneven chamfer tooth profile. This paper proposed a meshing chamfering method based on tooth profile meshing principle and developed a related machine tool. The single tooth profile including the transition curve is derived according to the gear drawings, and then the chamfering cutter is designed according to the tooth profile and the movement of a four-axis linkage machine tool. The tooth chamfering size can be adjusted by radial feeding of the machine tool, and both gear end faces can be chamfered by one time processing. The gear chamfering machine tools have been practically applied in several famous gear enterprises in China. Test and promotion results show that the gear chamfering machine can achieve uniform chamfering amount processing of the working tooth profile and transition curve with high efficiency, low cost of the chamfering cutter, which can meet the chamfering needs of different types of gears.