We have derived a systematic method to calculate the photonic band structures and mode field profiles of arbitrary space-time periodic media by adopting the plane wave expansion method and extending to the space-time domain. We have applied the proposed method to a photonic crystal with time periodic permittivity, i.e., the Floquet photonic crystal, and showed that the method efficiently predicts driving-induced opening of frequency and momentum gaps and breaking of mirror symmetry in the photonic band structures. This method enables systematic investigation of various optical phenomena in space-time periodic media, such as nonreciprocal propagation of light, parametric processes, and photonic Floquet topological phases. (C) 2021 Optical Society of America under the terms of the OSA Open Access Publishing Agreement