PURPOSE: To continuously mold a tubular member having an arbitrary cross-sectional shape by forming braids around a mandrel to impregnate the same with a resin and molding the impregnated braids into a predetermined cross-sectional shape on the mandrel and curing the molded one to cut the same into a predetermined length.

CONSTITUTION: A resin impregnation device P infiltrating a liquid thermosetting resin into the braids (b) formed around a mandrel (m) obtained by expanding a soft tube t1 composed of a heat-resistant soft resin such as silicone rubber by compressed air is provided. Further, a die member h1 molding the resin impregnated braids (b) on the mandrel (m) into a predetermined cross-sectional shape and a molding and curing device H heating and curing the braids (b) molded into the predetermined cross-sectional shape on the mandrel (m) by the die member h1 are provided. The molded and cured one is cut into a predetermined length by the cutter S placed on the frame S' capable of being reciprocally moved along the mandrel (m).