When I did mine, I made a mandrel from 3/4" mdf (chamfered on one side to help hold the pipe I was bending). I clamped the pipe at one end and drew the free end around the mandrel, little by little. I got a kink-free radius with no sand, water/ice, etc.
Sorry, I didn't get any photos of the mandrel and the bending portion. My back was sore the next day, though
, as I didn't heat up the pipe before bending. My process was very similar to the one found here:
http://www.instructables.com/id/How-to-bend-tubing/One word of caution, though. Despite my calculations and mocking-up, I ended up with the rear tire rubbing the underside of my frame hoop when loaded with passenger and riding on rough streets/bumps
. I ended up having to source rear shocks that are ~1" longer to solve this. Be thorough and be sure to leave yourself plenty of space for suspension travel.