We report a submicrometer, self-aligned recess gate technology for millimeter-wave InAs-channel heterostructure field effect transistors. The recess gate structure is obtained in an n(+)-InAs-InAlAs double cap layer structure with a citric-acid-based etchant. From molecular-beam epitaxy-grown material functional devices with 1000-, 500-, and 200-nm gate length were fabricated. From all three device geometries we obtain drive currents of at least 500 mA/mm, gate leakage currents below 2 mA/mm, and RF-transconductance of 1 S/mm. For the 200-nm gate length device f(tau) and f(max) are 162 and 137 GHz, respectively. For the 500-nm gate length device f(tau) and f(max) are 89 and 140 GHz, respectively. We observe scaling limitations at 200-nm gate length, in particular a negative threshold voltage shift from -550 to -810 mV, increased kink-effect, and a high gate-to-drain capacitance of 0.5 pF/mm. The present limitations to device scaling are discussed.