We describe the results of systematic measurements, carried out with single and double GEM detectors with printed circuit read-out and having an active area of 10 x 10 cm(2), both in the laboratory and in a high-energy charged particles beam at CERN. Using fast analog readout electronics, we demonstrate efficiencies for minimum ionizing particles close to 100%, with typical signal/noise ratios above 50 and up to 10(3) for the single and double GEM configuration, respectively, and a lime resolution of 15 ns fwhm. Localization accuracies around 40 mu m r.m.s. have been obtained for perpendicular tracks, degrading to 200 mu m at 20 degrees of incidence to the normal. Operated in a non-flammable gas mixture (argon-carbon dioxide), CEM detectors are robust,light and cheap to manufacture, and offer excellent performances and reliability suited for use in the harsh environments met at high luminosity colliders. (C) 1999 Elsevier Science B.V. All rights reserved.