Current precision experiments with single (anti)protons to test CPT symmetry progress at a rapid pace, but are complicated by the need to cool particles to sub-thermal energies. We describe a cryogenic Penning-trap setup for $^9$Be$^+$ ions designed to allow coupling of single (anti)protons to laser-cooled atomic ions for sympathetic cooling and quantum logic spectroscopy. We report on trapping and laser cooling of clouds and single $^9$Be$^+$ ions. We discuss prospects for a microfabricated trap to allow coupling of single (anti)protons to laser-cooled $^9$Be$^+$ ions for sympathetic laser cooling to sub-mK temperatures on ms time scales.