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Next-generation cellular technologies, commonly referred to as the sixth generation (6G), are envisioned to support a higher system capacity, better performance, and network sensing capabilities. The terahertz (THz) band is one potential enabler to this end due to the large unused frequency bands and the high spatial resolution enabled by the short signal wavelength and large bandwidth. Different from earlier surveys, this paper presents a comprehensive treatment and technology survey on THz communications and sensing in terms of advantages, applications, propagation characterization, channel modeling, measurement campaigns, antennas, transceiver devices, beamforming, networking, the integration of communications and sensing, and experimental testbeds. Starting from the motivation and use cases, we survey the development and historical perspective of THz communications and sensing with the …