A system, non-transitory computer-readable medium, and method of designing quiet variable-rate MRI slice-select pulses includes creating discretized first slice-select constant-amplitude gradient and RF waveforms, associating discretized time points having a first constant time increment with the first waveforms, selecting a scaling function that smooths the gradient waveform when multiplied together, multiplying the gradient and RF waveforms by the corresponding value of the scaling function to create second gradient and RF waveforms, dividing the time increment between the discretized time points by the corresponding value of the scaling function to create a remapped time increment, cumulatively summing the remapped time increments to create a remapped time scale, interpolating the second gradient and RF waveforms along the remapped time scale to form final gradient and RF waveforms, and providing the final gradient and RF waveforms for incorporation into an MRI pulse sequence.