In this paper, a generic and simple approach to design Continuous-Time Sigma-Delta Modulators (CT ΣΔMs) based on Finite Impulse Response Digital-to-Analog Converter (FIR DAC) is introduced. The numerical conversion from Continuous-Time to Discrete-Time allows the designer to explore complex modulator architectures and different feedback DAC shapes, without dealing with difficult equations needed in other published design approaches.