You really would want to bend it quite near the muffler so a pipe bender wouldn't help with that.
Heating the pipe with a torch on the "long" side then quenching is one way to shrink the metal and create a small bend in a pipe. I got about 2 degrees of bend using that method when I built my current exhaust.
Also, by getting the muffler end where the pipe joins red hot and flexing the muffler end cap should work. But anytime you heat stainless with a torch, there will be much polishing involved to get it back to nice and shiny.
