The design of spiral bevel and hypoid gears that have a shaft extended from both sides of the cone apex (straddle design) is considered. A main difficulty of such a design is determining the length and diameter of the shaft that might be undercut by the head cutter during gear tooth generation. A method that determines the free space available for the gear shaft is proposed. The approach avoids collision between the shaft being designed and the head cutter during tooth generation. The approach is illustrated with a numerical example.