The extremely large antenna arrays (ELAAs) and millimeter-wave systems have become key techniques for obtaining higher frequency spectrum efficiency in sixth-generation (6G) communication systems. It is necessary to determine appropriate statistical models to describe the channel characteristics for the ELAAs, such as spatial non-stationarity, dispersion in angular domain, and spatial consistency. Thus, a signal model based on the generalized array manifold (GAM) that describes the dispersion in direction using the definition of the slightly distributed scatterer (SDS) is proposed in this work. An estimator for the parameters of the GAM model, namely GAM Space-Alternating Generalized Expectation-maximization (GAM-SAGE), is also designed. Moreover, a method to obtain a stochastic SDS-based channel model (SBCM) that is capable of reproducing the spatial consistency is proposed. The method is then used to establish measurement-based models for line-of-sight (LoS) and non-line-of-sight (NLoS) scenarios using a 40×40 receiver (Rx) planar antenna array at a carrier frequency of 40 GHz. The results demonstrate that the SBCM is capable of achieving spatially consistent results and outperforms the specular-path (SP) models in completely characterizing the ELAA channels at millimeter-wave bands, which are fundamental for the design of 6G.