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High-fidelity entangling gates are essential for quantum computation. Currently, most approaches to designing such gates are based either on simple, analytical pulse waveforms or on ones obtained from numerical optimization techniques. In both cases, it is typically not possible to obtain a global understanding of the space of waveforms that generate a target gate operation, making it challenging to design globally optimal gates. Here, we show that in the case of weakly coupled qubits, it is possible to find all pulses that implement a target entangling gate. We do this by mapping quantum evolution onto geometric space curves. We derive the minimal conditions these curves must satisfy in order to guarantee a gate with a desired entangling power is implemented. Pulse waveforms are extracted from the curvatures of these curves. We illustrate our method by designing fast, CNOT-equivalent entangling gates for silicon quantum dot spin qubits with fidelities exceeding 99%. We show that fidelities can be further improved while maintaining low bandwidth requirements by using geometrically derived pulses as initial guesses in numerical optimization routines.