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Step-by-step build — 3 steps. Also available as a print sheet.
Cut the two 2x4 legs with the 10° off-square angle on both the tops and bottoms. On just the top of both legs, mark and cut off the small triangular area with a circular saw to flatten the back face — this is what makes the piece sit flat against the wall instead of touching only at one edge.
Lay both legs flat, front edge down on the floor or a flat work surface. Use two 3/4"-thick scrap spacers to hold the cross supports at the right height, and attach to the legs with screws.
Stand the assembly against a flat wall on a level floor, and check that the legs are plumb — not leaning to one side. Set the shelf at the height you want (18" from the floor works well for bench-height use) and attach with screws. Add hooks once the frame is in its final position.