The effort of this paper is to develop a methodology of computer aided design and manufacture of spatial cams. The integrated CAD/CAM systems for spatial cams are developed to enable manufacturer to design and machine them readily. The contour of spatial cams can be obtained by applying envelope theory to the cam/follower motion. The mathematical cam contour is evaluated at some increment to generate the numerical data for the CNC programming. Incremental generation of points along a cam contour can be accomplished in consideration with the specified tolerance. The computerized procedure is described in detail with accompanying examples.