This article presents a fully integrated Cryo-CMOS system on chip (SoC) for quantum computing. The proposed SoC integrates a radio frequency (RF) pulse modulator for qubit state manipulation, a multi-tone signal generator and a coherent receiver for qubit state readout, and 22 DACs for high-speed voltage pulsing of qubit gates. By adopting frequency division multiplexing and direct digital synthesis (DDS), the RF pulse modulator can control up to 16 qubits over a single RF line, and the readout receiver can detect the state of up to six qubits simultaneously. The proposed SoC also integrates a microcontroller for low latency on-chip signal processing and increased flexibility in implementing quantum instruction sets. A detailed analysis of qubit-state readout fidelity and the impact of finite DAC resolution on two-qubit gate fidelity is also included in this article, together with an electrical specification summary. The SoC is implemented in Intel’s 22 nm FFL fin field-effect transistor (FinFET) process, and it is characterized both at room and 4 K temperatures. The performance of each specific block is measured, with the readout characterized in a loop-back configuration. Generation of the control signals required for a full Rabi oscillation experiment is also demonstrated. This article also describes the cryogenic thermalization techniques used to integrate the SoC in the dilution refrigerator and shows temperature measurements during operation.