diff --git a/CHANGELOG.md b/CHANGELOG.md
index cfb0f29126..21949b996b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@ Features:
 
 Bug Fixes:
 
+- Register `cmake.testProgram`, `cmake.testWorkingDirectory`, and `cmake.testArgs` as VS Code commands so they can be used as `${command:cmake.testProgram}` in launch.json from the Run and Debug panel. [#4574](https://github.com/microsoft/vscode-cmake-tools/issues/4574)
 - Fix "CMake: Run Without Debugging" not changing the working directory when the build directory changes. [#4549](https://github.com/microsoft/vscode-cmake-tools/issues/4549)
 - Fix CMake script path links not working in CHS/CSY/FRA/PLK locales due to localized quotes. [#4383](https://github.com/microsoft/vscode-cmake-tools/issues/4383)
 - Fix user-level tasks defined in `~/.config/Code/User/tasks.json` causing infinite spinner. [#4659](https://github.com/microsoft/vscode-cmake-tools/pull/4659)
diff --git a/docs/debug-launch.md b/docs/debug-launch.md
index 7d68c0792b..4430cd4776 100644
--- a/docs/debug-launch.md
+++ b/docs/debug-launch.md
@@ -213,8 +213,9 @@ You can substitute the value of any variable in the CMake cache by adding a `com
 
 You can also construct launch.json configurations that allow you to debug tests in the Test Explorer.
 
-> **Note:**
-> These launch.json configurations are to be used specifically from the UI of the Test Explorer. 
+There are two forms of these variables:
+- `${command:cmake.testProgram}`, `${command:cmake.testArgs}`, `${command:cmake.testWorkingDirectory}` — These are resolved as VS Code command substitutions and work both from the **Test Explorer** and the **Run and Debug** panel. When launched from Run and Debug, you will be prompted to select a test.
+- `${cmake.testProgram}`, `${cmake.testArgs}`, `${cmake.testWorkingDirectory}` — These are only resolved when launching from the **Test Explorer** UI. If used from the Run and Debug panel, they will not be substituted.
 
 The easiest way to do this is to construct the debug configuration using `cmake.testProgram` for the `program` field, `cmake.testArgs` for 
 the `args` field, and `cmake.testWorkingDirectory` for the `cwd` field.
@@ -227,11 +228,10 @@ A couple of examples:
     "name": "(ctest) Launch",
     "type": "cppdbg",
     "request": "launch",
-    "presentation": { "hidden": true },
     // Resolved by CMake Tools:
-    "cwd": "${cmake.testWorkingDirectory}",
-    "program": "${cmake.testProgram}",
-    "args": [ "${cmake.testArgs}"],
+    "cwd": "${command:cmake.testWorkingDirectory}",
+    "program": "${command:cmake.testProgram}",
+    "args": [ "${command:cmake.testArgs}"],
 }
 ```
 ### msvc
@@ -240,10 +240,9 @@ A couple of examples:
     "name": "(ctest) Launch",
     "type": "cppvsdbg",
     "request": "launch",
-    "presentation": { "hidden": true },
     // Resolved by CMake Tools:
-    "program": "${cmake.testProgram}",
-    "args": [ "${cmake.testArgs}"],
+    "program": "${command:cmake.testProgram}",
+    "args": [ "${command:cmake.testArgs}"],
 }
 ```
 
diff --git a/package.json b/package.json
index 24b0dc71ea..2948358cb7 100644
--- a/package.json
+++ b/package.json
@@ -48,6 +48,9 @@
     "onCommand:cmake.launchTargetDirectory",
     "onCommand:cmake.launchTargetFilename",
     "onCommand:cmake.launchTargetName",
+    "onCommand:cmake.testProgram",
+    "onCommand:cmake.testWorkingDirectory",
+    "onCommand:cmake.testArgs",
     "onCommand:cmake.getLaunchTargetPath",
     "onCommand:cmake.getLaunchTargetDirectory",
     "onCommand:cmake.getLaunchTargetFilename",
diff --git a/src/ctest.ts b/src/ctest.ts
index cb764d626e..27930f2bcf 100644
--- a/src/ctest.ts
+++ b/src/ctest.ts
@@ -1259,11 +1259,14 @@ export class CTestDriver implements vscode.Disposable {
         // Commands can't be used to replace array (i.e., args); and both test program and test args requires folder and
         // test name as parameters, which means one lauch config for each test. So replacing them here is a better way.
         chosenConfig.config = this.replaceAllInObject<vscode.DebugConfiguration>(chosenConfig.config, '${cmake.testProgram}', this.testProgram(testName));
+        chosenConfig.config = this.replaceAllInObject<vscode.DebugConfiguration>(chosenConfig.config, '${command:cmake.testProgram}', this.testProgram(testName));
         chosenConfig.config = this.replaceAllInObject<vscode.DebugConfiguration>(chosenConfig.config, '${cmake.testWorkingDirectory}', this.testWorkingDirectory(testName));
+        chosenConfig.config = this.replaceAllInObject<vscode.DebugConfiguration>(chosenConfig.config, '${command:cmake.testWorkingDirectory}', this.testWorkingDirectory(testName));
 
         // Replace cmake.testArgs wrapped in quotes, like `"${command:cmake.testArgs}"`, without any spaces in between,
-        // since we need to repalce the quotes as well.
+        // since we need to replace the quotes as well.
         chosenConfig.config = this.replaceArrayItems(chosenConfig.config, '${cmake.testArgs}', this.testArgs(testName)) as vscode.DebugConfiguration;
+        chosenConfig.config = this.replaceArrayItems(chosenConfig.config, '${command:cmake.testArgs}', this.testArgs(testName)) as vscode.DebugConfiguration;
 
         // Identify the session we started
         chosenConfig.config[magicKey] = magicValue;
@@ -1307,7 +1310,7 @@ export class CTestDriver implements vscode.Disposable {
         }
     }
 
-    private testProgram(testName: string): string {
+    public testProgram(testName: string): string {
         if (this.tests) {
             for (const test of this.tests.tests) {
                 if (test.name === testName) {
@@ -1324,7 +1327,7 @@ export class CTestDriver implements vscode.Disposable {
         return '';
     }
 
-    private testWorkingDirectory(testName: string): string {
+    public testWorkingDirectory(testName: string): string {
         const property = this.tests?.tests
             .find(test => test.name === testName)?.properties
             .find(prop => prop.name === 'WORKING_DIRECTORY');
@@ -1335,7 +1338,7 @@ export class CTestDriver implements vscode.Disposable {
         return '';
     }
 
-    private testArgs(testName: string): string[] {
+    public testArgs(testName: string): string[] {
         if (this.tests) {
             for (const test of this.tests.tests) {
                 if (test.name === testName) {
diff --git a/src/extension.ts b/src/extension.ts
index 81dca6ba4b..1b6a1c39f5 100644
--- a/src/extension.ts
+++ b/src/extension.ts
@@ -1796,6 +1796,54 @@ export class ExtensionManager implements vscode.Disposable {
         }, folder);
     }
 
+    private async pickTestName(cmakeProject: CMakeProject): Promise<string | undefined> {
+        const testNames = cmakeProject.cTestController.getTestNames();
+        if (!testNames || testNames.length === 0) {
+            void vscode.window.showWarningMessage(localize('no.ctest.tests.found', 'No CTest tests found. Make sure to configure and build your project first.'));
+            return undefined;
+        }
+        if (testNames.length === 1) {
+            return testNames[0];
+        }
+        const chosen = await vscode.window.showQuickPick(testNames, {
+            placeHolder: localize('choose.test', 'Select a test')
+        });
+        return chosen;
+    }
+
+    testProgram(folder?: vscode.WorkspaceFolder | string) {
+        telemetry.logEvent("substitution", { command: "testProgram" });
+        return this.queryCMakeProject(async cmakeProject => {
+            const testName = await this.pickTestName(cmakeProject);
+            if (!testName) {
+                return '';
+            }
+            return cmakeProject.cTestController.testProgram(testName);
+        }, folder);
+    }
+
+    testWorkingDirectory(folder?: vscode.WorkspaceFolder | string) {
+        telemetry.logEvent("substitution", { command: "testWorkingDirectory" });
+        return this.queryCMakeProject(async cmakeProject => {
+            const testName = await this.pickTestName(cmakeProject);
+            if (!testName) {
+                return '';
+            }
+            return cmakeProject.cTestController.testWorkingDirectory(testName);
+        }, folder);
+    }
+
+    testArgs(folder?: vscode.WorkspaceFolder | string) {
+        telemetry.logEvent("substitution", { command: "testArgs" });
+        return this.queryCMakeProject(async cmakeProject => {
+            const testName = await this.pickTestName(cmakeProject);
+            if (!testName) {
+                return [];
+            }
+            return cmakeProject.cTestController.testArgs(testName);
+        }, folder);
+    }
+
     buildTargetName(folder?: vscode.WorkspaceFolder | string) {
         telemetry.logEvent("substitution", { command: "buildTargetName" });
         return this.queryCMakeProject(cmakeProject => cmakeProject.buildTargetName(), folder);
@@ -2401,6 +2449,9 @@ async function setup(context: vscode.ExtensionContext, progress?: ProgressHandle
         'getLaunchTargetDirectory',
         'getLaunchTargetFilename',
         'getLaunchTargetName',
+        'testProgram',
+        'testWorkingDirectory',
+        'testArgs',
         'buildTargetName',
         'buildKit',
         'buildType',