I watched someone do it on TV...one of those hot rod shows on Sunday morning. For the money you'll spend on oxygen & acetylene to do the heating, and the time it takes, you'd be better off buying one already done! Plus, they had a special fixture to get the bending right, side-to-side, and to keep the king pin angle correct. Other than that, it was heat and bend (with a 4-foot bar).
Good luck.
cm