Nowadays, there is a renewed interest in switched reluctance machines and especially in axial-flux switched reluctance machines (AFSRM). This paper presents a comprehensive design procedure for modular AFSRM with an inner stator and two exterior rotors that have a new distribution of the stator and rotor poles, resulting in short magnetic paths with no flux reversal. After a description of the proposed machine, the output torque equation is derived from a simplified non-linear energy conversion loop and guidelines for its design are given. Once the preliminary sizing has been carried out the different modules of the AFSRM, the magnetically active parts made with SMC, are reshaped or refined using 3D printing and 3D electromagnetic finite element analysis until they reach their definitive shape and dimensions. Finally, an AFSRM has been built following the proposed design procedure and has been validated by experimental measurements