Earth-boring tools include a cutting element positioned on a drill bit body at a radial distance from a longitudinal axis thereof. At least two formation-engaging elements are positioned at the same radial distance from the longitudinal axis as the cutting element. The formation-engaging elements are recessed from cutting profile of the cutting element by a distance within about 10% of d, wherein d=(α*x)/(1800*y), where α is an angle between the formation-engaging element and the cutting element, x is a rate of penetration of the drill bit body, and y is a rotation speed of the drill bit body. Additional earth-boring tools include at least one cutting element and at least two formation-engaging elements recessed from a cutting profile of the at least one cutting element at a common angle. Methods relate to forming such earth-boring tools.