Errr… He asked about copper tube, but I expect similar applies to stainless-steel!
A general rule seems to be minimum bend radius = 3 X diameter but that might rely on a proper former.
The secret does seem to be, as Michael indicates, the former profiles. He 3D-prints his but there are ways and means to machine them conventionally with a semi-circular groove: a form-tool in the lathe, or milling with the blank on a rotary-table perpendicular to the cutter rather than axial to it.
Plenty of designs for tube benders have been published, but really I regard this a tool to buy rather then make. The making time is your own and of course there is the satisfaction in making it; but by the time you account for the materials and electricity you’d probably spend more than the commercial item!