In this paper, a novel two-dimensional parameter estimation method is proposed for frequency-selective millimeter-wave (mmWave) channels by probing a limited number of Kronecker products of discrete Fourier transform (DFT) beams, which are efficiently implemented in the analog domain by a novel combination of Butler matrices. The proposed strategy firstly estimates the channel parameters by using a modified parameter estimation via interpolation based on a DFT grid (PREIDG) algorithm. In a second step, high-resolution channel parameter estimation is achieved even in the low signal-to-noise-ratio (SNR) using the space-alternating generalized expectation-maximization (SAGE) algorithm. The proposed modified PREIDG algorithm outperforms state-of-the-art methods, e.g., the auxiliary beam pair (ABP) method while the SAGE algorithm achieves the derived Cramér-Rao lower bound (CRLB). Numerical results demonstrate that excellent estimation performance can be achieved for angle of departure (AoD) azimuth and elevation with addition to delay and complex path gain of each path even in the low SNR regime.