A method of manufacturing a torsion bar for a steering system is provided. The method includes supporting a torsion bar blank on a cold forming machine with a plurality of dies at a first end region of the torsion bar blank and a second end region of the torsion bar blank. The method also includes rolling the torsion bar blank to form an end region having a cylindrical outer surface extending from an axial end surface and a serrated portion disposed proximate the end region and axially offset from the axial end surface.