Another slightly brutal method is to lay it across a couple of boards with a gap between them and beat it with a sledge or stand on it between the boards.
It is not quite as controlled as a bending jig but will get the job done.

Another way is with a hickey.
A hickey is like a big crowbar with a hook and a shoe on the end to grab the steel and bend it using the bar as a lever. The sho is usually separate and a steel pipe is the handle.
They are usually used for bending electrical conduit. You can rent them from tool rental places if you have to.