I totally agree, tooling set-up time for knife bevels will ruin you even if you can run a machine shop in the dark. It's not a macho thing to me...you just have a much less restricted avenue doing it free-hand...and as was said, milling proposes all sorts of problems to get a good edge-geometry.
If you've read all the books, I'll assume you're grinding with the cutting edge up.
I start my grind a little bit ahead of the plunge cut (GENTLY!!!) and then sway my hips to take the blade back to the plunge cut. Then I shift my weight to help carry the blade across the belt in a linear fashion...all the while gently pulling the handle end back (slightly) to keep a uniform thickness from start to tip.
I use the thumb on the handle end of business to do the main adjustment in pressure from cutting edge back to spine. Meaning I use that thumb to either push the top of the ricasso into the belt to take a lot off of the cutting edge, or I ease it back toward the spine of the ricasso to bring pressure to the spine of the blade.
I only use my hand on the blade end of business for support. Very little actuall pushing is done with that hand.
Once you get to the tip, pull the blade straight back away from the belt. If you continue that gentle sweeping pulling back of the handle all the way past the tip...you'll grind the tip right off.
Well, there's some tips. I'm really too tired at the moment, so I better go before I screw you up more than I already have
Please let us know how it goes and we'll try to help!!!!!

Nick