I used to use an electricians pipe bender day in and day out.
It is complicated enough that I cannot easily describe it.
You can learn to bend arches with them, but that is some next level stuff that I never mastered.
Bending the pipe in three places could give you 1/2 of an octagon, thus emulating a half circle.
The best way to learn is to do, so I would advise getting a small 1/2" bender and sacrificial pipe.
For references, Uglys makes book on conduit bending that will be way too in depth, plus it covers electrical stuff you don't need to know.
This video is a place to start:
https://youtu.be/gaaz_Tu23eQ
If you want to see a home made version of an hoop bender, check this out:
https://youtu.be/UR4GuQJgVrk