We present a free-space plasmonic modulator based on a single heavily-doped semiconductor layer. We investigate its ability to modulate both the linear and nonlinear response at mid-infrared frequencies slightly below the plasma frequency of the semiconductor. We demonstrate electric control of the linear transmittance and reflectance, and of the efficiency of third-harmonic generation with a field-effect gate structure. We discuss further performance optimization of the device in terms of modulation speed and depth towards a fast modulator with very simple active material requirements. Our results establish a viable route toward practical plasmonic modulators and mixers operating in the mid-infrared atmospheric window available for free-space communications at wavelengths between 8 and 12 um.