You can do something like this:
1. Open PartDesign WB
2. Create new Body
3. Create sketch and make a pad out of it. It will be eg. cabinet door.

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4. Make another sketch with profile you want to make on door. Sketch plane is suppose to be perpendicular to plane you created pad sketch in step 3.
It should have geometry of your milling tool. Position sketch like you would position router bit.

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5. Select sketch with profile in feature tree and click Subtractive sweep.

- screen 3.png (21.17 KiB) Viewed 314 times
6. Now, in "Corner transition" select right corner, then press button "Add edge" and select edge on Pad where you placed your profile sketch. You will get something like this:

- screen 4.png (96.68 KiB) Viewed 314 times
Then press "Add edge" and select next edge on pad. Repeat operation for all remaining edges.
7. You will get something like this:

- screen 5.png (104.55 KiB) Viewed 314 times