A pipe bending shoe including a support frame, a pipe channel defined by a first bending frame connected with the support frame and by a second bending frame connected with the support frame, and a plurality of flexible straps spaced along the pipe channel and spanning the pipe channel transversely between the first bending frame and the second bending frame in order to provide a transversely segmented pipe sling, wherein the pipe sling maintains a constant convex longitudinal sling profile during bending of a pipe using the pipe bending shoe.