Current freeform illumination optical designs are mostly focused on producing prescribed irradiance distributions on planar targets. Here, we aim to design freeform optics that could generate a desired illumination on a curved target from a point source, which is still a challenge. We reduce the difficulties that arise from the curved target by involving its varying z-coordinates in the iterative wavefront tailoring (IWT) procedure. The new IWT-based method is developed under the stereographic coordinate system with a special mesh transformation of the source domain, which is suitable for light sources with light emissions in semi space such as LED sources. The first example demonstrates that a rectangular flat-top illumination can be generated on an undulating surface by a spherical-freeform lens for a Lambertian source. The second example shows that our method is also applicable for producing a non-uniform irradiance distribution in a circular region of the undulating surface.