Transmission error in gearing system is a critical index for product quality. Gears with appropriate tooth modification can always behave well in transmission error, i.e. the double crowned gears. Nevertheless, to manufacture a gear with double crowning by CNC gear shaving machine indeed costly. This paper investigated the manufacture of double crowned gears by traditional gear shaving machine. Taguchi Method was applied to find critical parameters in the shaving process and the transmission error had also been improved through the process of robust design.