A solution of space curved bars with generalized Winkler soil found by means of Transfer Matrix Method is presented. Distributed, concentrated loads and imposed strains are applied to the beam as well as rigid or elastic boundaries are considered at the ends. The proposed approach gives the analytical and numerical exact solution for circular beams and rings, loaded in the plane or perpendicular to it. A well-approximated solution can be found for general space curved bars with complex geometry. Elastic foundation is characterized by six parameters of stiffness in different directions: three for rectilinear springs and three for rotational springs. The beam has axial, shear, bending and torsional stiffness. Numerical examples are given in order to solve practical cases of straight and curved foundations. The presented method can be applied to a wide range of problems, including the study of tanks, shells and complex foundation systems. The particular case of box girder distortion can also be studied through the beam on elastic foundation (BEF) analogy.