This paper presents a practical design guide for the magnetic-geared dual-rotor motor (MGDRM), which is one of the candidates of the power split device in hybrid electric vehicles. The spoke-type permanent magnet rotor and simplified complementary structure are first used to form a new MGDRM, which exhibits less flux leakage, less cost, and less torque ripple. Based on this structure, an FEA aided key dimensions design technique, considering the height of the outer rotor, is developed with the goal of generating maximum torque for a given motor volume. The method also takes the core saturation into consideration. Moreover, to enhance the manufacturability of the complimentary MGDRM, a unique technique is proposed to implement the dual rotor structure with simple components. A prototype of 16 kW is designed and manufactured. Experiments are carried out on a hybrid powertrain test bench, verifying the proposed design and manufacture technique.