Benzene-noble gas complexes were one of the earliest topics of interest in spectroscopic investigation of van der Waals (vdW) complexes. Smalley et al.{\footnote{S. M. Beck, M. G. Liverman, D. L. Monts and R. E. Smalley, J. Chem. Phys. 70, 232 (1979).}} observed C$_6$H$_6$-(He)$_{1,2}$ vdW complexes in the late 1970s by means of electronic spectroscopy. A recent study on the same species was done by Hayashi and Oshima{\footnote{M. Hayashi and Y. Ohshima , Chem. Phys. 419, 131 (2013).}} at higher resolution (250 MHz). Here, we present an extensive infrared observation of C$_6$H$_6$-Rg$_n$ (n=1,2) with the rare gas being He, Ne, or Ar, in the 3 micron region. The spectra were observed using a tunable optical parametric oscillator to probe a p...