Method for soft milling of bevel gear teeth of several similar bevel gears (20.1, 20.2), wherein a universal milling tool is being employed in a first milling machine in order to mill a first bevel gear (20.1) of the plurality of similar bevel gears, wherein the universal milling tool is equipped with a set of bar cutters comprising several pairs of inner cutting edges (13.1) and outer cutting edges (14.1), and the set of bar cutters is designed so that a positive tip distance results, wherein this positive tip distance (w soft) is smaller than the smallest gap distance (e fn, soft) of tooth gaps (15.1*) of the first bevel gear (20.1) of the plurality of similar bevel gears and of tooth gaps (15.2*) of a second bevel gear (20.2) of the plurality of similar bevel gears, wherein during the soft milling of the first bevel gear (20.1) of the plurality of similar bevel gears - in a first machining phase, the pairs (13.1, 14.1) are employed for a simultaneous milling machining of convex inner flanks (21.1*) and of concave outer flanks (22.1*) on this bevel gear (20.1), - in a subsequent second machining phase, either the outer cutting edges (14.1) are employed for a milling finishing pre-machining of the concave outer flanks (22.1*) or the inner cutting edges (13.1) are employed for the milling finishing pre-machining of the convex inner flanks (21.1*) on this bevel gear (20.1), wherein prior to the second machining phase a rotation of the workpiece and a change of the radial and the rolling angle of the universal milling tool are provided for and during the second machining phase the respective other cutting edges (13.1 or 14.1) are not applied, wherein the universal milling tool is employed with the same set of bar cutters on the first or a second milling machine, so as to pre-cut teeth of a second bevel gear (20.2) of the plurality of similar bevel gears (20.1, 20.2), which differs from the first bevel gear (20.1) of the plurality of similar bevel gear (20.1, 20.2) in that it has a different gap width (e fn,soft) of the tooth gaps (15*) at the tooth base bottom (17*) in the normal direction, wherein during the soft milling of the second bevel gear (20.2) of the plurality of similar bevel gears - in a third machining phase, the pairs (13.1, 14.1) are employed for the simultaneous milling machining of convex inner flanks (21.2*) and of concave outer flanks (22.2*) on the second bevel gear (20.2), - in a subsequent fourth machining phase, either the outer cutting edges (14.1) are employed for the milling finishing pre-machining of the concave outer flanks (22.2*) or the inner cutting edges (13.1) are employed for the milling finishing pre-machining of the convex inner flanks (21.2*) on this bevel gear (20.2), wherein prior to the fourth machining phase at least one machine setting of the milling machine is changed and during the fourth machining phase the respective other cutting edges (13.1 or 14.1) are not employed. - in a first machining phase, the pairs (13.1, 14.1) are employed for a simultaneous milling machining of convex inner flanks (21.1*) and of concave outer flanks (22.1*) on this bevel gear (20.1), - in a subsequent second machining phase, either the outer cutting edges (14.1) are employed for a milling finishing pre-machining of the concave outer flanks (22.1*) or the inner cutting edges (13.1) are employed for the milling finishing pre-machining of the convex inner flanks (21.1*) on this bevel gear (20.1), wherein prior to the second machining phase a rotation of the workpiece and a change of the radial and the rolling angle of the universal milling tool are provided for and during the second machining phase the respective other cutting edges (13.1 or 14.1) are not applied, - in a third machining phase, the pairs (13.1, 14.1) are employed for the simultaneous milling machining of convex inner flanks (21.2*) and of concave outer flanks (22.2*) on the second bevel gear (20.2), - in a subsequent fourth machining phase, either the outer cutting edges (14.1) are employed for the milling finishing pre-machining of the concave outer flanks (22.2*) or the inner cutting edges (13.1) are employed for the milling finishing pre-machining of the convex inner flanks (21.2*) on this bevel gear (20.2), wherein prior to the fourth machining phase at least one machine setting of the milling machine is changed and during the fourth machining phase the respective other cutting edges (13.1 or 14.1) are not employed.