Optical second-harmonic generation in the Cerenkov-radiation scheme in slab waveguides has been theoretically investigated for all the possible type I configurations. By solving the nonlinear wave equations analytically, a simple general expression for the second-harmonic power has been obtained. Characteristics of the Cerenkov-type second-harmonic generation and optimum conditions for attaining high conversion efficiencies are discussed on the basis of the theoretical analysis. It is shown that, in order to attain high conversion efficiencies, off-diagonal elements of nonlinear optical coefficient tensor should be utilized taking advantage of birefringence.