The study deals with 5-axis control tool path generation for side-milling cutters in the light of making use of 5-axis control machining centers having the potential of machining with high efficiency and accuracy. Concerning 5-axis control machining, there are two ways of using cutting edges; one is to use the top part such as ball-end mill and the other the side part described in the study. Most of 5-axis control machining is probably carried out by the former, however, there are some cases where the latter exerts the validity. In the study, the system developed enables the collision-free tool path generation for side-milling cutters which is transformed to actual 5-axis control NC data, taking account of the structure of 5-axis control machining centers. The validity of the system is experimentally confirmed.