This study presents the development and testing of an experimental pultrusion equipment for fabrication of thermoplastic tape prepregs reinforced with continuous fibers. The equipment developed at Tula State University enables the manufacturing of thermoplastic matrices (e.g., PA6) and carbon fiber roving and also offers the versatility for laboratory-scale production. Main components include a fiber creel, a spreader, a pultrusion die, an extruder, a pulling device, and a winder. The process involves heating of the system, feeding of the matrix polymer, aligning of fibers, and adjusting of the pulling speed to ensure optimal impregnation depth and low shrinkage. The unidirectional tape prepreg with 50 wt.% fiber content, 19 mm width, and 0.2 mm thickness was produced, with a tensile strength of 1254–1289 MPa and porosity of 11%. While mechanical properties were lower than commercial counterparts (e.g., Toray Cetex TC910), the results confirmed the equipment’s functionality and identified areas for improvement, such as melt pressure stabilization and die design modification. Proposed upgrades include introduction of the melt pumps, as well as automated tape measurement and tension control systems. The study validates the equipment’s potential for fabrication prepregs with various thermoplastic matrices, supported by patented technology (RF Patent No. 2831075).