This paper demonstrates 300GHz terahertz wireless communication using CMOS transmitter (TX) and receiver (RX) modules targeting sixth-generation (6G). To extend communication distance, CMOS modules with WR-3.4 waveguide interface and a high-gain antenna of 40dBi Cassegrain antenna are designed, achieving 36Gbps throughput at a 1m communication distance. Besides, in order to support orthogonal frequency-division multiplexing (OFDM), a self-heterodyne architecture is introduced, which effectively cancels the phase noise in multi-carrier modulation. As a proof-of-concept (PoC), the paper successfully demonstrates real-time video transfer at a 10m communication distance using fifth-generation (5G) based OFDM at the 300GHz frequency band.