Bending hollow tubes - how to pooratech?

[Supervan]

If I was to say, try and bend mild steel hollow tube, how would I go about making such nice bends as in the (stolen: credit to alwyn_gs) picture.

Very little after market, or even OEM accessories was ever made for the X-country and I always end up making things myself, but pipe bending is beyond me.
Any ideas?

 

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