It's still common, in a manual machine shop, to X-Y the steps out to rough form the radius. It isn't hard to trig out each X & Y move. On a large radius, a form tool does not work well, as it takes a big piece of HSS & a tool grinder to make one. On a small radius, 1/4" more or less, it's quick & easy to grind a form tool on a bench grinder. The form tool is used only to bring the X-Y steps together.
For larger work, a radius tool can either be bought or shop built. I'm working with a friend to get this published, & will post here if or when that happens.