Plasma membrane tubes are ubiquitous in cellular membranes and in the membranes of intracellular organelles. They play crucial roles in trafficking, ion transport, and cellular motility. The formation of plasma membrane tubes can be due to localized forces acting on the membrane or by curvature-induced by membrane-bound proteins. Here, we present a mathematical framework to model cylindrical tubular protrusions formed by proteins that induce anisotropic spontaneous curvature. Our analysis revealed that the tube radius depends on an effective tension that includes contributions from the bare membrane tension and the protein-induced curvature. We also found that the length of the tube undergoes an abrupt transition from a short, dome-shaped membrane to a long cylinder and this transition is characteristic of a snapthrough instability. Finally, we show that the snapthrough instability depends on the different parameters including coat area, bending modulus, and extent of protein-induced curvature. Our findings have implications for tube formation due to BAR-domain proteins in processes such as endocytosis, t-tubule formation in myocytes, and cristae formation in mitochondria.1Significance StatementCylindrical tubes are ubiquitous on cellular membranes and many studies have focused on how forces can give rise to tubes. How do curvature-inducing proteins, in the absence of forces, form cylindrical tubes on lipid bilayers? The answer to this question relies on minimizing the bending energy of the membrane to accommodate two different principal curvatures such that a cylindrical shape is an energy minimizer. Here, we build on previous works to develop such a model and show that the formation of an elongated cylindrical tube is accompanied by a snapthrough transition in the bending energy. Furthermore, we identify how this transition depends on different membrane properties, providing a landscape for comparing with different experimental observations. These findings have implications for our understanding how tubes forms in different cellular processes including trafficking, mitochondrial inner membrane cristae formation, and T-tubule formation in myocytes.