The geometry of helical milling cutter with specific cross-section profile is normally generated with form cutter by the toolpath generating method. The general purpose CAD/CAM software can generate the cutter location file of this class of product only by the sculpturing method. To obtain the flexibility of machining process, this paper presents an interference-free toolpath generating method for semi-finish and finish machining of the helical milling cutter. The method for design and machining of the helical milling cutter is established based on the differential geometry and the enveloping theory. In the finish machining of helical milling cutter, the form grinding wheel profile is firstly derived. To reduce the cost and lead time of the generating method with the form-mill cutter for semi-finish machining, a toolpath generating method which combines the advantages of the generating method and sculpturing method was presented. The cutter location uses ball-nose conical end mill is derived according to the geometric characteristics of the enveloping element. The cutting simulations with solid model were performed to verify the proposed toolpath generation method.