The adsorption characteristics of the selected activated carbon have an important effect on the performance of the sub-Kelvin helium sorption cooler. In this paper, a test system for the adsorption amount of the carbons based on a G-M cooler was built, which has the advantages of being detachable and high gas seal performance. The adsorption isotherm of the three carbons (5.3 K-40 K, 0–0.6 MPa) for 4He were experimentally tested, and the data were fitted according to the Dubinin theory. In addition, the calculation methods of sorption cooler were summarized and a model of cooling power prediction was established. Based on the above theoretical model and experimental data, a carbon with high specific surface area and excellent adsorption properties was selected as filler, and a prototype of 4He sorption cooler was developed. The lowest temperature and holding time of the prototype are 923 mK and 8.47 h, respectively, in good agreement with the theoretical model. The model and the experimental method can provide reference for the design of sorption coolers at sub-Kelvin temperatures.