A hollow rack shaft is produced by forming a plate work piece and has continuous metal flow along the contour of rack teeth surface without being cut. A series of wave-like concave-convex sections is formed on the inner surface of the shaft. Thickness of tooth body and tooth bottom of the rack teeth is adjusted by dimensions of the unevenness. Thereby, stress concentration at each point of the rack shaft is prevented and the shaft is strengthend and lightweightized.