diff --git a/CMakeLists.txt b/CMakeLists.txt
index 833c5cce..4b796c13 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -106,12 +106,14 @@ target_include_directories(${app} PRIVATE ${VARTYPES_INCLUDE_DIRS})
 list(APPEND libs ${VARTYPES_LIBRARIES})
 
 # Protobuf
-find_package(Protobuf REQUIRED)
-include_directories(${PROTOBUF_INCLUDE_DIRS})
-list(APPEND libs ${PROTOBUF_LIBRARIES})
+find_package(protobuf CONFIG REQUIRED)
+list(APPEND libs protobuf::libprotobuf)
 
-set (Protobuf_IMPORT_DIRS ${Protobuf_INCLUDE_DIR})
-protobuf_generate_cpp(PROTO_CPP PROTO_H
+if(protobuf_VERBOSE)
+    message(STATUS "Using Protocol Buffers ${protobuf_VERSION}")
+endif()
+
+set(PROTOS
     src/proto/grSim_Commands.proto
     src/proto/grSim_Packet.proto
     src/proto/grSim_Replacement.proto
@@ -189,8 +191,7 @@ set(HEADERS
 # files to be compiled
 set(srcs
     ${CONFIG_FILES}
-    ${PROTO_CPP}
-    ${PROTO_H}
+    ${PROTOS}
     ${RESOURCES}
     ${HEADERS}
     ${SOURCES}
@@ -203,6 +204,15 @@ target_sources(${app} PRIVATE ${srcs})
 install(TARGETS ${app} DESTINATION bin)
 target_link_libraries(${app} ${libs})
 
+set(PROTO_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated")
+file(MAKE_DIRECTORY ${PROTO_BINARY_DIR})
+target_include_directories(${app} PUBLIC "$<BUILD_INTERFACE:${PROTO_BINARY_DIR}>")
+protobuf_generate(
+        TARGET ${app}
+        IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}/src/proto"
+        PROTOC_OUT_DIR "${PROTO_BINARY_DIR}"
+)
+
 if(APPLE AND CMAKE_MACOSX_BUNDLE)
   # use CMAKE_MACOSX_BUNDLE if you want to build a mac bundle
   set(MACOSX_BUNDLE_ICON_FILE "${PROJECT_SOURCE_DIR}/resources/icons/grsim.icns")
diff --git a/INSTALL.md b/INSTALL.md
index 47957903..3e784f33 100644
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -80,7 +80,7 @@ brew install pkg-config
 brew tap robotology/formulae         
 brew install robotology/formulae/ode
 brew install qt
-brew install protobuf
+brew install protobuf@21
 ```
 
 If you run into build issues, you may need to run this first:
diff --git a/clients/qt/CMakeLists.txt b/clients/qt/CMakeLists.txt
index 5ea9473f..6aa15881 100644
--- a/clients/qt/CMakeLists.txt
+++ b/clients/qt/CMakeLists.txt
@@ -9,26 +9,31 @@ set(libs)
 find_package(Qt5 COMPONENTS Core Widgets Network REQUIRED)
 list(APPEND libs Qt5::Core Qt5::Widgets Qt5::Network)
 
+find_package(protobuf CONFIG REQUIRED)
+list(APPEND libs protobuf::libprotobuf)
 
-find_package(Protobuf REQUIRED)
-include_directories(${PROTOBUF_INCLUDE_DIRS})
-list(APPEND libs ${PROTOBUF_LIBRARIES})
-
-protobuf_generate_cpp(PROTO_CPP PROTO_H
-    ../../src/proto/grSim_Replacement.proto
-    ../../src/proto/grSim_Commands.proto
-    ../../src/proto/grSim_Packet.proto
-)
 
 set(app client)
 
 add_executable(${app} MACOSX_BUNDLE
-    ${PROTO_CPP}
-    ${PROTO_H}
-    main.cpp
-    mainwindow.cpp
-    mainwindow.h
-)
+        main.cpp
+        mainwindow.cpp
+        mainwindow.h
+        ../../src/proto/grSim_Replacement.proto
+        ../../src/proto/grSim_Commands.proto
+        ../../src/proto/grSim_Packet.proto
+        )
 
 target_link_libraries(${app} ${libs})
 
+# Set the directory where the generated protobuf files will be placed
+set(PROTO_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/generated")
+file(MAKE_DIRECTORY ${PROTO_BINARY_DIR})
+target_include_directories(${app} PUBLIC "$<BUILD_INTERFACE:${PROTO_BINARY_DIR}>")
+
+# Generate the sources from the .proto files
+protobuf_generate(
+        TARGET ${app}
+        IMPORT_DIRS "${CMAKE_CURRENT_LIST_DIR}/../../src/proto"
+        PROTOC_OUT_DIR "${PROTO_BINARY_DIR}"
+)