Three-dimensional (3D) gapless topological phases can be classified by the dimensionality of the band degeneracies, including zero-dimensional (0D) nodal points, one-dimensional (1D) nodal lines, and two-dimensional (2D) nodal surfaces. Both nodal points and nodal lines have been realized recently in photonics and acoustics. However, a nodal surface has never been observed in any classical-wave system. Here, we report on the experimental observation of a twofold symmetry-enforced nodal surface in a 3D chiral acoustic crystal. In particular, the demonstrated nodal surface carries a topological charge of 2, constituting the first realization of a higher-dimensional topologically-charged band degeneracy. Using direct acoustic field measurements, we observe the projected nodal surface and its Fermi-arc-like surface states and demonstrate topologically-induced robustness of the surface states against disorders. This discovery of a higher-dimensional topologically-charged band degeneracy paves the way toward further explorations of the physics and applications of new topological semimetal phases.