The binaural auralization of a 3D sound field using spherical-harmonics beamforming (SHB) techniques was investigated and compared with the traditional method using a head-and-torso simulator (HATS). The new procedure was verified by comparing simulated room impulse responses with measured ones binaurally. The objective comparisons show that there is good agreement in the frequency range between 0.1 and 6.4 kHz. A listening experiment was performed to validate the SHB method subjectively and to compare it to the HATS method. Two musical excerpts, pop and classical, were used. Subjective responses were collected in two head rotation conditions (fixed and rotating) and six spatial reproduction modes, including phantom mono, stereo, and surround sound. The results show that subjective scales of width, spaciousness, and preference based on the SHB method were similar to those obtained for the HATS method, although the width and spaciousness of the stimuli processed by the SHB method were judged slightly higher than the ones using the HATS method in general. Thus, binaural synthesis using SHB may be a useful tool to reproduce a 3D sound field binaurally, while saving considerably on measurement time because head rotation can be simulated based on a single recording.