We numerically and experimentally investigate the propagation of mechanical waves in two-dimensional periodic and spatially graded elastic beam lattices. Experiments on metallic lattices admit the characterization of the linear elastic wave dispersion over a wide range of frequencies, resulting in complete, experimentally-constructed dispersion surfaces in excellent agreement with predictions obtained from finite element-based Bloch wave analysis. While Timoshenko beam theory is shown to be sufficiently accurate for predicting the lowest modes, experiments prove that solid finite elements are required to capture the dispersion relations at higher frequencies as well as when mode coupling occurs. Based on an improved numerical procedure, group velocity maps further highlight the directionality of wave dispersion and allow for the simple identification of bandgaps. In addition to classically studied periodic trusses, we extend the framework to spatially graded structures and demonstrate acoustic rainbow trapping in beam lattices undergoing out-of-plane vibrations. Our experiments confirm broadband vibration attenuation of the typical meta-wedge type previously observed only in optics and few mechanical studies. Results further show convincing agreement between Bloch theory-based predictions, finite element simulations, and experimental measurements. Such spatially-variant architected lattices show great promise for steering the motion of elastic waves in applications from wave guiding and wave shielding to energy harvesting.