We demonstrate a universal approach to designing and generating non-diffracting structured light beams with arbitrary shapes. Such light beams can be tailored by predefining suitable spectral phases that match the corresponding beam shapes in the transverse plane. We develop a practical spectral superposition algorithm to discuss the non-diffracting properties and experimentally confirm our numerical results. Our proposed approach differs from that of classical non-diffracting beams, which are always constructed from wave equation solutions. The various non-diffracting structured beams could help manipulate particles following arbitrary transverse shapes and are likely to give rise to new applications in optical micromachining.