A torque drive transmission, having at least two counter-rotating cams bearing-mounted within a housing about a rotational axis. The counter-rotating cams are operative to: (i) convert a linear input to a rotary output, and (ii) drive a pair of coaxial drive shafts in opposite directions along the rotational axis. Furthermore, each counter-rotating cam defines a cam profile surface having drive and follower surfaces defining angles α and β respectively. The angles α and β are unequal to drive each cam and respective output drive shaft in an opposite rotational direction. As such, the cams may be driven in opposite directions irrespective the initial rotational position of the linear input, i.e., relative to each counter-rotating cam.