The present invention relates to a system for and a method of manufacturing a linear gear (rack gear), in which a forming roll and a guide roll are used to form gear teeth in a sequential manner so as not to require a high load, thereby enabling to easily manufacture the rack gear. A system for manufacturing a rack gear according to the invention includes a forming roll having a convexo-concave portion formed on a part of the surface contacting with a linear bar, a guide roll adapted to roll while facing the forming roll, and at least one support member for supporting the linear bar so as to allow the linear bar to linearly move. A method of manufacturing a rack gear according to the invention includes a first step of passing a linear bar through between a pair of rollers provided in front of a forming roll and a guide roll, a second step of charging the linear bar into a charging hole between the forming roll and the guide roll, a third step of rolling the forming roll and the guide roll to partly form teeth on the outer circumferential surface of the linear bar, and a fourth step of rolling the forming roll and the guide roll forward or backward to discharge the linear bar.