Easy way.
Consider a regular bevel gear set. The two "conical" gears have straight cut teeth, and their axes cross at the centreline. Both gears have teeth that when looked at above run along the shaft centreline.
Say that you want to lower the driveshaft relative to the rear axle (RWD), the ultimate is a worm and wheel, where the smaller gear is the worm drive, and the larger gear the wheel. When looked at from above, both gears have teeth that are approaching perpendicular to shaft axis.
Mix the two, so that you have the pinion below half way, but not all the way, and you need to start mixing the two geometries, and end up with a spiral bevel.
Those are the two extremes, of straight