In this study, a general mathematical model for defining the gear tooth profile and its geometrical aspects that meet a desirable sliding contact during the meshing cycle is built. This model is based on the path of contact shape predefinition. In the contact path, a straight-line segment through the pitch point and a universal transition curve for the other segments are combined to create a free-form tooth profile with desired radius of curvature in the designed gear. The maximum pressure angle during the meshing cycle and the involute curve length parameter are only introduced to characterize this model. The designed gear in this study is given the title “free-form-gear” since it provided a universal manner of establishing the path of contact that provides desirable sliding conditions during the meshing cycle. The proposed tooth form, interference condition, contact ratio, contact stress, sliding coefficient, and meshing efficiency are derived and investigated in this study. The fillet stress and torsional mesh stiffness of the proposed gear pair are obtained using the finite element method (FEM). The performance of the new gear is compared to that of the standard involute and non-involute gear types. The results indicated that the method proposed in this study can be utilized to construct a gear pair with higher surface durability and strength than typical involute gear of the same size.