A continuously variable transmission includes a driving member rotating about a first axis, a driven member rotating about a second axis, and an intermediate member interposed between the driving and driven members and rotating about a third axis configured to intersect the first and second axes. The intermediate member transfers torque from the driving member to the driven member. A method for forming a torque transfer member includes providing a base structure, wrapping a needle assembly around the base structure such that the needles extend outwardly therefrom, and affixing the needle assembly to the base structure. A method of manufacturing a needle assembly includes forming a series of pockets on a side of a ribbon, organizing a series of needles into a series of pockets, and affixing the series of needles into the series of pockets.