Use the "Weldment" function and find the structural member that you are going to use (e.g., round or rectangular tubes) or create Structural Members to match your actual members.
Use the 3D sketch tool to create your frame, or a combination of 2D and 3D sketches, and the weldment tool will populate those frame sketches with the members, making the correct miter cuts and creating a cut list. You can use different members on different sketches, so plan your sketches based on the member groups. For instance, the frame rails may have rectangular sections and the roll cage round sections, so those sketches could be separate, then the rectangular sections would go with one sketch, possibly 2D if the members are all in-plane, whereas the roll cage would probably be best done in 3D since members will be going out of plane.
LS