diff --git a/python/tvm/auto_scheduler/measure.py b/python/tvm/auto_scheduler/measure.py
index 84dff157aa503..e77721496386e 100644
--- a/python/tvm/auto_scheduler/measure.py
+++ b/python/tvm/auto_scheduler/measure.py
@@ -560,7 +560,6 @@ def __init__(
             port=self.tracker.port,
             port_end=10000,
             key=device_key,
-            use_popen=True,
             silent=True,
             tracker_addr=(self.tracker.host, self.tracker.port),
         )
diff --git a/python/tvm/autotvm/measure/measure_methods.py b/python/tvm/autotvm/measure/measure_methods.py
index d212e5f26f20a..f328a06c079a2 100644
--- a/python/tvm/autotvm/measure/measure_methods.py
+++ b/python/tvm/autotvm/measure/measure_methods.py
@@ -404,7 +404,6 @@ def set_task(self, task):
             port=9000,
             port_end=10000,
             key=device_key,
-            use_popen=True,
             silent=True,
             tracker_addr=(tracker.host, tracker.port),
         )
diff --git a/python/tvm/contrib/popen_pool.py b/python/tvm/contrib/popen_pool.py
index 5a25484e91061..ecda995c7162c 100644
--- a/python/tvm/contrib/popen_pool.py
+++ b/python/tvm/contrib/popen_pool.py
@@ -44,10 +44,11 @@ def kill_child_processes(pid):
 
     try:
         parent = psutil.Process(pid)
+        children = parent.children(recursive=True)
     except psutil.NoSuchProcess:
         return
 
-    for process in parent.children(recursive=True):
+    for process in children:
         try:
             process.kill()
         except psutil.NoSuchProcess:
diff --git a/python/tvm/exec/rpc_server.py b/python/tvm/exec/rpc_server.py
index 9692b98fe22b0..6b3e93edd2239 100644
--- a/python/tvm/exec/rpc_server.py
+++ b/python/tvm/exec/rpc_server.py
@@ -16,11 +16,7 @@
 # under the License.
 # pylint: disable=redefined-outer-name, invalid-name
 """Start an RPC server"""
-from __future__ import absolute_import
-
 import argparse
-import multiprocessing
-import sys
 import logging
 from .. import rpc
 
@@ -51,6 +47,7 @@ def main(args):
         load_library=args.load_library,
         custom_addr=args.custom_addr,
         silent=args.silent,
+        no_fork=not args.fork,
     )
     server.proc.join()
 
@@ -85,14 +82,9 @@ def main(args):
     parser.set_defaults(fork=True)
     args = parser.parse_args()
     logging.basicConfig(level=logging.INFO)
-    if args.fork is False:
-        if sys.version_info[0] < 3:
-            raise RuntimeError("Python3 is required for spawn mode.")
-        multiprocessing.set_start_method("spawn")
-    else:
-        if not args.silent:
-            logging.info(
-                "If you are running ROCM/Metal, fork will cause "
-                "compiler internal error. Try to launch with arg ```--no-fork```"
-            )
+    if not args.fork is False and not args.silent:
+        logging.info(
+            "If you are running ROCM/Metal, fork will cause "
+            "compiler internal error. Try to launch with arg ```--no-fork```"
+        )
     main(args)
diff --git a/python/tvm/rpc/proxy.py b/python/tvm/rpc/proxy.py
index 28117b09f280d..7e02bd77c491d 100644
--- a/python/tvm/rpc/proxy.py
+++ b/python/tvm/rpc/proxy.py
@@ -537,7 +537,7 @@ def __init__(
         self.thread.start()
 
 
-def _popen_start_server(
+def _popen_start_proxy_server(
     host,
     port=9091,
     port_end=9199,
@@ -570,7 +570,7 @@ def _popen_start_server(
 class Proxy(object):
     """Start RPC proxy server on a seperate process.
 
-    Python implementation based on multi-processing.
+    Python implementation based on PopenWorker.
 
     Parameters
     ----------
@@ -618,7 +618,7 @@ def __init__(
         self.proc = PopenWorker()
         # send the function
         self.proc.send(
-            _popen_start_server,
+            _popen_start_proxy_server,
             [
                 host,
                 port,
diff --git a/python/tvm/rpc/server.py b/python/tvm/rpc/server.py
index 7861542531335..3fd6996034f72 100644
--- a/python/tvm/rpc/server.py
+++ b/python/tvm/rpc/server.py
@@ -31,20 +31,21 @@
 import select
 import struct
 import logging
+import threading
 import multiprocessing
-import subprocess
 import time
-import sys
-import signal
-import platform
 import tvm._ffi
 
 from tvm._ffi.base import py_str
 from tvm._ffi.libinfo import find_lib_path
 from tvm.runtime.module import load_module as _load_module
 from tvm.contrib import utils
+from tvm.contrib.popen_pool import PopenWorker
 from . import _ffi_api
 from . import base
+
+# pylint: disable=unused-import
+from . import testing
 from .base import TrackerCode
 
 logger = logging.getLogger("RPCServer")
@@ -296,13 +297,85 @@ def _connect_proxy_loop(addr, key, load_library):
             time.sleep(retry_period)
 
 
-def _popen(cmd):
-    proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, env=os.environ)
-    (out, _) = proc.communicate()
-    if proc.returncode != 0:
-        msg = "Server invoke error:\n"
-        msg += out
-        raise RuntimeError(msg)
+class PopenRPCServerState(object):
+    """Internal PopenRPCServer State"""
+
+    current = None
+
+    def __init__(
+        self,
+        host,
+        port=9091,
+        port_end=9199,
+        is_proxy=False,
+        tracker_addr=None,
+        key="",
+        load_library=None,
+        custom_addr=None,
+        silent=False,
+    ):
+
+        # start update
+        self.host = host
+        self.port = port
+        self.libs = []
+        self.custom_addr = custom_addr
+
+        if silent:
+            logger.setLevel(logging.ERROR)
+
+        if not is_proxy:
+            sock = socket.socket(base.get_addr_family((host, port)), socket.SOCK_STREAM)
+            self.port = None
+            for my_port in range(port, port_end):
+                try:
+                    sock.bind((host, my_port))
+                    self.port = my_port
+                    break
+                except socket.error as sock_err:
+                    if sock_err.errno in [98, 48]:
+                        continue
+                    raise sock_err
+            if not self.port:
+                raise ValueError("cannot bind to any port in [%d, %d)" % (port, port_end))
+            logger.info("bind to %s:%d", host, self.port)
+            sock.listen(1)
+            self.sock = sock
+            self.thread = threading.Thread(
+                target=_listen_loop,
+                args=(self.sock, self.port, key, tracker_addr, load_library, self.custom_addr),
+            )
+            self.thread.start()
+        else:
+            self.thread = threading.Thread(
+                target=_connect_proxy_loop, args=((host, port), key, load_library)
+            )
+            self.thread.start()
+
+
+def _popen_start_rpc_server(
+    host,
+    port=9091,
+    port_end=9199,
+    is_proxy=False,
+    tracker_addr=None,
+    key="",
+    load_library=None,
+    custom_addr=None,
+    silent=False,
+    no_fork=False,
+):
+    if no_fork:
+        multiprocessing.set_start_method("spawn")
+    # This is a function that will be sent to the
+    # Popen worker to run on a separate process.
+    # Create and start the server in a different thread
+    state = PopenRPCServerState(
+        host, port, port_end, is_proxy, tracker_addr, key, load_library, custom_addr, silent
+    )
+    PopenRPCServerState.current = state
+    # returns the port so that the main can get the port number.
+    return state.port
 
 
 class Server(object):
@@ -328,11 +401,6 @@ class Server(object):
         If this is true, the host and port actually corresponds to the
         address of the proxy server.
 
-    use_popen : bool, optional
-        Whether to use Popen to start a fresh new process instead of fork.
-        This is recommended to switch on if we want to do local RPC demonstration
-        for GPU devices to avoid fork safety issues.
-
     tracker_addr: Tuple (str, int) , optional
         The address of RPC Tracker in tuple(host, ip) format.
         If is not None, the server will register itself to the tracker.
@@ -348,6 +416,9 @@ class Server(object):
 
     silent: bool, optional
         Whether run this server in silent mode.
+
+    no_fork: bool, optional
+        Whether forbid fork in multiprocessing.
     """
 
     def __init__(
@@ -356,101 +427,44 @@ def __init__(
         port=9091,
         port_end=9199,
         is_proxy=False,
-        use_popen=False,
         tracker_addr=None,
         key="",
         load_library=None,
         custom_addr=None,
         silent=False,
+        no_fork=False,
     ):
         try:
             if _ffi_api.ServerLoop is None:
                 raise RuntimeError("Please compile with USE_RPC=1")
         except NameError:
             raise RuntimeError("Please compile with USE_RPC=1")
+        self.proc = PopenWorker()
+        # send the function
+        self.proc.send(
+            _popen_start_rpc_server,
+            [
+                host,
+                port,
+                port_end,
+                is_proxy,
+                tracker_addr,
+                key,
+                load_library,
+                custom_addr,
+                silent,
+                no_fork,
+            ],
+        )
+        # receive the port
+        self.port = self.proc.recv()
         self.host = host
-        self.port = port
-        self.libs = []
-        self.custom_addr = custom_addr
-        self.use_popen = use_popen
-
-        if silent:
-            logger.setLevel(logging.ERROR)
-
-        if use_popen:
-            cmd = [
-                sys.executable,
-                "-m",
-                "tvm.exec.rpc_server",
-                "--host=%s" % host,
-                "--port=%s" % port,
-                "--port-end=%s" % port_end,
-            ]
-            if tracker_addr:
-                assert key
-                cmd += ["--tracker=%s:%d" % tracker_addr, "--key=%s" % key]
-            if load_library:
-                cmd += ["--load-library", load_library]
-            if custom_addr:
-                cmd += ["--custom-addr", custom_addr]
-            if silent:
-                cmd += ["--silent"]
-
-            # prexec_fn is not thread safe and may result in deadlock.
-            # python 3.2 introduced the start_new_session parameter as
-            # an alternative to the common use case of
-            # prexec_fn=os.setsid.  Once the minimum version of python
-            # supported by TVM reaches python 3.2 this code can be
-            # rewritten in favour of start_new_session.  In the
-            # interim, stop the pylint diagnostic.
-            #
-            # pylint: disable=subprocess-popen-preexec-fn
-            if platform.system() == "Windows":
-                self.proc = subprocess.Popen(cmd, creationflags=subprocess.CREATE_NEW_PROCESS_GROUP)
-            else:
-                self.proc = subprocess.Popen(cmd, preexec_fn=os.setsid)
-            time.sleep(0.5)
-        elif not is_proxy:
-            sock = socket.socket(base.get_addr_family((host, port)), socket.SOCK_STREAM)
-            self.port = None
-            for my_port in range(port, port_end):
-                try:
-                    sock.bind((host, my_port))
-                    self.port = my_port
-                    break
-                except socket.error as sock_err:
-                    if sock_err.errno in [98, 48]:
-                        continue
-                    raise sock_err
-            if not self.port:
-                raise ValueError("cannot bind to any port in [%d, %d)" % (port, port_end))
-            logger.info("bind to %s:%d", host, self.port)
-            sock.listen(1)
-            self.sock = sock
-            self.proc = multiprocessing.Process(
-                target=_listen_loop,
-                args=(self.sock, self.port, key, tracker_addr, load_library, self.custom_addr),
-            )
-            self.proc.start()
-        else:
-            self.proc = multiprocessing.Process(
-                target=_connect_proxy_loop, args=((host, port), key, load_library)
-            )
-            self.proc.start()
 
     def terminate(self):
         """Terminate the server process"""
-        if self.use_popen:
-            if self.proc:
-                if platform.system() == "Windows":
-                    os.kill(self.proc.pid, signal.CTRL_C_EVENT)
-                else:
-                    os.killpg(self.proc.pid, signal.SIGTERM)
-                self.proc = None
-        else:
-            if self.proc:
-                self.proc.terminate()
-                self.proc = None
+        if self.proc:
+            self.proc.kill()
+            self.proc = None
 
     def __del__(self):
         self.terminate()
diff --git a/python/tvm/rpc/testing.py b/python/tvm/rpc/testing.py
new file mode 100644
index 0000000000000..b7acc74c413a3
--- /dev/null
+++ b/python/tvm/rpc/testing.py
@@ -0,0 +1,69 @@
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+
+# pylint: disable=invalid-name,unnecessary-comprehension
+""" Testing functions for the RPC server."""
+import numpy as np
+import tvm
+
+
+# RPC test functions to be registered for unit-tests purposes
+@tvm.register_func("rpc.test.addone")
+def _addone(x):
+    return x + 1
+
+
+@tvm.register_func("rpc.test.strcat")
+def _strcat(name, x):
+    return "%s:%d" % (name, x)
+
+
+@tvm.register_func("rpc.test.except")
+def _remotethrow(name):
+    raise ValueError("%s" % name)
+
+
+@tvm.register_func("rpc.test.runtime_str_concat")
+def _strcat(x, y):
+    return x + y
+
+
+@tvm.register_func("rpc.test.remote_array_func")
+def _remote_array_func(y):
+    x = np.ones((3, 4))
+    np.testing.assert_equal(y.asnumpy(), x)
+
+
+@tvm.register_func("rpc.test.add_to_lhs")
+def _add_to_lhs(x):
+    return lambda y: x + y
+
+
+@tvm.register_func("rpc.test.remote_return_nd")
+def _my_module(name):
+    # Use closure to check the ref counter correctness
+    nd = tvm.nd.array(np.zeros(10).astype("float32"))
+
+    if name == "get_arr":
+        return lambda: nd
+    if name == "ref_count":
+        return lambda: tvm.testing.object_use_count(nd)
+    if name == "get_elem":
+        return lambda idx: nd.asnumpy()[idx]
+    if name == "get_arr_elem":
+        return lambda arr, idx: arr.asnumpy()[idx]
+    raise RuntimeError("unknown name")
diff --git a/tests/python/relay/test_vm.py b/tests/python/relay/test_vm.py
index 58985832fb359..7e790494125ef 100644
--- a/tests/python/relay/test_vm.py
+++ b/tests/python/relay/test_vm.py
@@ -827,8 +827,7 @@ def test_vm_rpc():
     # Use local rpc server for testing.
     # Server must use popen so it doesn't inherit the current process state. It
     # will crash otherwise.
-    server = rpc.Server("localhost", port=9120, use_popen=True)
-    time.sleep(2)
+    server = rpc.Server("localhost", port=9120)
     remote = rpc.connect(server.host, server.port, session_timeout=10)
 
     # Upload the serialized Executable.
diff --git a/tests/python/unittest/test_runtime_module_based_interface.py b/tests/python/unittest/test_runtime_module_based_interface.py
index 766338de35580..9658ce1b2c1e7 100644
--- a/tests/python/unittest/test_runtime_module_based_interface.py
+++ b/tests/python/unittest/test_runtime_module_based_interface.py
@@ -262,7 +262,7 @@ def verify_rpc_gpu_export(obj_format):
 
         from tvm import rpc
 
-        server = rpc.Server("localhost", use_popen=True, port=9094)
+        server = rpc.Server("localhost", port=9094)
         remote = rpc.connect(server.host, server.port)
         remote.upload(path_lib)
         loaded_lib = remote.load_module(path_lib)
diff --git a/tests/python/unittest/test_runtime_rpc.py b/tests/python/unittest/test_runtime_rpc.py
index 256fd33387bf7..a74f893065b8d 100644
--- a/tests/python/unittest/test_runtime_rpc.py
+++ b/tests/python/unittest/test_runtime_rpc.py
@@ -85,21 +85,6 @@ def verify_rpc(remote, target, shape, dtype):
         verify_rpc(remote, target, (10,), dtype)
 
 
-@tvm.register_func("rpc.test.addone")
-def addone(x):
-    return x + 1
-
-
-@tvm.register_func("rpc.test.strcat")
-def strcat(name, x):
-    return "%s:%d" % (name, x)
-
-
-@tvm.register_func("rpc.test.except")
-def remotethrow(name):
-    raise ValueError("%s" % name)
-
-
 @tvm.testing.requires_rpc
 def test_rpc_simple():
     server = rpc.Server("localhost", key="x1")
@@ -115,11 +100,6 @@ def test_rpc_simple():
     assert f2("abc", 11) == "abc:11"
 
 
-@tvm.register_func("rpc.test.runtime_str_concat")
-def strcat(x, y):
-    return x + y
-
-
 @tvm.testing.requires_rpc
 def test_rpc_runtime_string():
     server = rpc.Server("localhost", key="x1")
@@ -130,12 +110,6 @@ def test_rpc_runtime_string():
     assert str(func(x, y)) == "abcdef"
 
 
-@tvm.register_func("rpc.test.remote_array_func")
-def remote_array_func(y):
-    x = np.ones((3, 4))
-    np.testing.assert_equal(y.asnumpy(), x)
-
-
 @tvm.testing.requires_rpc
 def test_rpc_array():
     x = np.ones((3, 4))
@@ -342,16 +316,11 @@ def check_remote_link_cl(remote):
     check_minrpc()
 
 
-@tvm.register_func("rpc.test.remote_func")
-def addone(x):
-    return lambda y: x + y
-
-
 @tvm.testing.requires_rpc
 def test_rpc_return_func():
     server = rpc.Server("localhost", key="x1")
     client = rpc.connect(server.host, server.port, key="x1")
-    f1 = client.get_function("rpc.test.remote_func")
+    f1 = client.get_function("rpc.test.add_to_lhs")
     fadd = f1(10)
     assert fadd(12) == 22
 
@@ -393,21 +362,6 @@ def check_error_handling():
     check_error_handling()
 
 
-@tvm.register_func("rpc.test.remote_return_nd")
-def my_module(name):
-    # Use closure to check the ref counter correctness
-    nd = tvm.nd.array(np.zeros(10).astype("float32"))
-
-    if name == "get_arr":
-        return lambda: nd
-    elif name == "ref_count":
-        return lambda: tvm.testing.object_use_count(nd)
-    elif name == "get_elem":
-        return lambda idx: nd.asnumpy()[idx]
-    elif name == "get_arr_elem":
-        return lambda arr, idx: arr.asnumpy()[idx]
-
-
 @tvm.testing.requires_rpc
 def test_rpc_return_ndarray():
     # start server
@@ -428,15 +382,10 @@ def run_arr_test():
     run_arr_test()
 
 
-@tvm.register_func("rpc.test.remote_func2")
-def addone(x):
-    return lambda y: x + y
-
-
 @tvm.testing.requires_rpc
 def test_local_func():
     client = rpc.LocalSession()
-    f1 = client.get_function("rpc.test.remote_func2")
+    f1 = client.get_function("rpc.test.add_to_lhs")
     fadd = f1(10)
     assert fadd(12) == 22
 
@@ -458,8 +407,8 @@ def test_rpc_tracker_register():
         key=device_key,
         tracker_addr=(tracker.host, tracker.port),
     )
-    time.sleep(1)
     client = rpc.connect_tracker(tracker.host, tracker.port)
+    time.sleep(1)
 
     summary = client.summary()
     assert summary["queue_info"][device_key]["free"] == 1