The design of transmit and receive aperture weightings is a critical step in the development of ultrasound imaging systems. Current design methods are generally iterative, and consequently time consuming and inexact. We describe a new and general ultrasound beamformer design method, the minimum sum squared error (MSSE) technique. The MSSE technique enables aperture design for arbitrary beam patterns (within fundamental limitations imposed by diffraction). It uses a linear algebra formulation to describe the system point spread function (psf) as a function of the aperture weightings. The sum squared error (SSE) between the system psf and the desired or goal psf is minimized, yielding the optimal aperture weightings. We present detailed analysis for continuous wave (CW) and broadband systems. We also discuss several possible applications of the technique, such as the design of aperture weightings that improve the system depth of field, generate limited diffraction transmit beams, and improve the correlation depth of field in translated aperture system geometries. Simulation results are presented in an accompanying paper.