A workpiece is formed into a shape having curvatures in the longitudinal and width directions required for a final closed cross-sectional shape, and bend-facilitating lines are provided at positions corresponding to bent lines in the closed cross-sectional shape. The workpiece formed in the first step is bent in a direction that left and right side wall portions approach each other by clamping the bottom portions between a punch and pad in the plate thickness direction and by pressing a punch into a space between dies. A plug having an outer shape the same as the final closed cross-sectional shape is placed on the bottom portion of the workpiece formed in the second step, and the bottom portion and the left and right side wall portions are bent along the bend-facilitating lines by pressing the bottom portion and the left and right side wall portions against a periphery of the plug.