The development of feasible methods for the design of power-skiving tools without cutting interference is essential in ensuring the accuracy of involute internal machined gears. One of the most crucial points in obtaining interference-free and resharpenable power-skiving tools is that of determining the cutting-edge and clearance surface. The present study introduces a tilt angle during the power-skiving process to design a simple cylindrical interference-free tool shape, in which the shape of the cutting edge remains unchanged after resharpening. The relative position between the new tool center point and gear during machining is similarly unchanged after resharpening. In addition, the clearance angle between the tool and the gear can be easily adjusted simply by changing the tilt angle of the tool during power-skiving. The validity of the proposed design method is demonstrated through a simple numerical example. The simulation results confirm the feasibility of the proposed method.