ASACUSA collaboration has been making a path to realize high precision microwave spectroscopy of ground-state hyperfine transitions of antihydrogen atom in flight for stringent test of the CPT symmetry. Recently, we have succeeded in synthesizing our first cold antihydrogen atoms employing a CUSP trap. It is expected that synthesized antihydrogen atoms in the low-field-seeking states are preferentially focused along the cusp magnetic field axis whereas those in the high-field-seeking states are not focused, resulting in the formation of a spin-polarized antihydrogen beam. We report the recent results of antihydrogen atom synthesis and beam production developed with the CUSP trap.