An analytical method for the design of holographic optical elements (HOE) for focussing laser scanners with minimum aberrations and optimum scan line definition is reported. It can be shown analytically, using second order (paraxial) approximation, that a circular motion of the HOE cannot generate a straight line in space without astigmatism of the focal spot. Accepting a slightly curved scan line, the astigmatism can be compensated. Experimental results for HOE with a wavelength shift between recording and reconstruction are demonstrated. The required aspherical wavefronts for the recording are realized with the help of computer generated holograms (CGH).