Robotic Wire Arc Additive Manufacturing (WAAM) is known for the production of large metal parts. This process at the core uses the welding process guided by 6 DOF robot, which enables printing of typical engineering components like turbine blades, propeller blades of ship etc. often associated with free-form surface features like bumps, depression or protrusion. The process of deposition of filler material would need deposition details like path, speed, acceleration of the weld tool etc. to print a sheet-like solid. In addition, several such sheets need to be built and fused over one another for a typical 3D part. These sheets need not to be planar like typical 3D printing process as non-planar deposition by 6-DOF robot would retain the accuracy of various free-form surface features of the part as well as enhance its build rate. Current state-of-the-art methods rely on conventional CNC tool paths for the WAAM process. This approach often requires significant manual intervention to adapt the parameters of subtractive manufacturing to the additive process. This paper proposes an automated method for generating non-planar sheets sliced from a given CAD model, as well as the creation of deposition paths on each sheet that serve as tool paths for WAAM. The implementation of these non-planar slices for a provided CAD model is carried out using MATLAB.