Bessel beams are proposed as a practical way to generate well collimated and confined beams at mm-waves or THz for quasi-optical applications. To achieve that, we propose the use of two-dimensional antenna arrays as realizable launchers. Truncated Bessel beams with a main lobe width of few wavelengths (l) can propagate over several hundreds of l if the antenna aperture is electrically large. Because such a large aperture would require a large number of antenna elements, subsampling distributions are proposed in this work. It is found that arrays with spacings of approximately 4l generate high quality beams with very low amplitude oscillations over distances of about 300l in vacuum. The optimal excitation function for such arrays greatly departs from the Bessel one. It is synthesized with an analytical method based on a least mean square error minimization. The synthesis method is scalar, but the pseudo- Bessel beams obtained are vectorial and linearly polarized. Theoretical predictions are confirmed by full-wave simulations using Ansoft Designer.