We present the spectroscopic confirmation and precise mass measurement of the warm giant planet TOI-199 b. This planet was first identified in TESS photometry and confirmed using ground-based photometry from ASTEP in Antarctica including a full 6.5 hr long transit, PEST, Hazelwood, and LCO; space photometry from NEOSSat; and radial velocities (RVs) from FEROS, HARPS, CORALIE, and CHIRON. Orbiting a late G-type star, TOI-199 b has a ${104.854}_{-0.002}^{+0.001}\,{\rm{day}}$ period, a mass of 0.17 ± 0.02 M J, and a radius of 0.810 ± 0.005 R J. It is the first warm exo-Saturn with a precisely determined mass and radius. The TESS and ASTEP transits show strong transit timing variations (TTVs), pointing to the existence of a second planet in the system. The joint analysis of the RVs and TTVs provides a unique solution for the nontransiting companion TOI-199 c, which has a period of ${273.69}_{-0.22}^{+0.26}\,{\rm{days}}$ and an estimated mass of ${0.28}_{-0.01}^{+0.02}\,{M}_{{\rm{J}}}$ . This period places it within the conservative habitable zone.