This is an interesting problem because rectangular tubing makes the job easy.
The first question to ask is how thick can you go with the sheet metal bending? The general approach is to opt be linear rails to taped holes in the gantry beam. This requires thicker material in the beam than simply looking at from the standpoint of mechanical engineering. In other words the beam has to be thick Engine ugh to hold the threads for the rail mounting screws.
You do have options here and in that you can buy linear rails with the paper holes instead of through holes. Then you beam can have clearance holes. Ultimately what you do for a beam depends to a extent upon what you intend to do with the machine. If you intend to machine aluminum it needs to be phisically stiffer. If you want very high Z clearance the beam needs to be more resistant to twisting.
As for I Beams and C channel you will almost certainly need a machine shop to machine them flat Enough to be usable. If you weld anything’s ng you are even more likely to need a machine shop. It can be and has been done though so If you have to go this way just understand that it is far more difficult. Over on YouTube “This Old Tony” builds a gantry from a structural C channel beam. That is only one approach to using structural C channel. One thing to note is that his beam required significant machining to flatten.
You have other possibilities if a large machine shop isn’t available. Hand scraping is always a possibility. Then there is epoxy leveling. In the end don’t get hung up on the idea that there is only one approach to the flatness problem on a gantry beam. There are many ways to solve this problem.
Given the materials you have available to you I’d probably try welding two C channels together. Ideally find somebody that can stress relieve the weldment and then flatten a face, Oh realize that your beam needs to be longer than the work area. Depending upon themachines design that could mean a beam 6 - 8 feet in length to cover the 5 ft working area, this is important when trying to find somebody to machine the beam.
The lack of square or rectangular tubing will make the base frame construction more difficult. Again your design comes into play but this might be an even better place to bend up sheet metal.