This may surprise you, but a manual shaper other than a table machine is not far-fetched, the base is in front of most of us.
In smaller work, a Toolmaker will build a clamp that encircles his mill quill, a cup about 2" deep. The lower end spigot clamps a tool bit, round or square, rather like a boring holder.
If he grinds a proper bit; a small radius, square or angled corner can be finished. This includes canting the head for draft.
The spindle is positioned and locked from turning, low gear helps. At initial position, the quill handle is simply stroked to depth and above, out of the part.
One axis is moved at a time incrementally, while shaving excess material.

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