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This paper presents an analytical method developed to design and study the tooth geometry and contact characteristics of helical face gears. The tooth geometry is first defined while simulating the meshing of the face gear with the shaper used to cut it. A second meshing simulation is then performed between the face gear and the meshing pinion to determine some characteristics of kinematics, i.e. exact location of contact points, theoretical contact ratio, kinematics transmission error. The computation method is very general and allows to study several types of face gears : crossed axes or offset, varying shaft angle, spur or helical pinion. Cutting and assembling errors are also included in the simulations. The study has shown the influence of the different errors on the kinematics characteristics. Relative sensibility of helical face gears under various misalignments has been also established.