Surface waves are commonly used for vibration-based nondestructive testing for infrastructure. Spectral Analysis of Surface Waves (SASW) has been used to detect subsurface properties for geologic inspections. Recently, efforts were made to scale down these subsurface detection approaches to see how they perform on small-scale structures such as concrete slabs and pavements. Additional efforts have been made to replace the traditional surface-mounted transducers with non-contact acoustic transducers. Though some success has been achieved, most of these new approaches are inefficient because they require point-to-point measurements or off-line signal analysis. This article introduces a Mobile Acoustic Subsurface Sensing system as MASS, which is an improved surface wave based implementation for measuring the subsurface profile of roadways. The compact MASS system is a 3-wheeled cart outfitted with an electromagnetic impact source, distance register, non-contact acoustic sensors and data acquisition/ processing equipment. The key advantage of the MASS system is the capability to collect measurements continuously at walking speed in an automatic way. The fast scan and real-time analysis advantages are based upon the non-contact acoustic sensing and fast air-coupled surface wave analysis program. This integration of hardware and software makes the MASS system an efficient mobile prototype for the field test.