The method I used is best described as
Heat and Beat
First I sooted up the inside of the aluminum angle with a candle. Next, I heat the aluminum with a propane torch. I work in small increments, about 6" at a time. As the aluminum approaches annealing temperature the soot will begin to burn off. If you try to to burn every bit of soot off, you'll melt it. Instead, watch the flame very carefully. When it begins turning orange, IMMEDIATELY move on to the next section
Note how the blue gas flame turns the orange after contacting the aluminum in this photo. That is what you are looking for. I found turning off some of my shop lights made that tell-tale orange flame easier to see.
In my experience a propane torch is more than adequate. With it, I can anneal 8-foot lenths of aluminum angle in about 10 minutes.
Allow the aluminum to cool slowly. It will be much softer and easier to bend.
After annealing, I can bend the aluminum angle to to rough shape by hand. The 6" radius at the bottom of the Cubby doors was tricky for me. Especially since, I needed a 1/2" leg on the inside piece to cover up a cutting error on my inside skins. The aluminum angle WILL kink on tight curves. However, these kinks can be flattened easily with a hammer. You may want to use a wooden block to keep from denting your aluminum.