A vehicle tire interrogation system for interrogating sensors embedded in a vehicle tire. The interrogation system both transmits and receives appropriate RF signals to and from the sensors. The system includes antennas operating at two separate frequency bands that have an input impedance at both frequency bands at 50 ohms, are horizontally polarized, and have a gain at a minimum of 2 dBi at the two frequency bands. The antennas may be printed dual band antennas, such as wideband tapered slot antennas, dual band printed dipoles with reflectors or Yagi-Uda array antennas. The antennas can be embedded in various support structures to protect both the antenna and the vehicle tires.