Sampling frequency selection is a key issue in direct digitalization of the radio frequency (RF) signals. In this paper, we propose a cylindrical surface spectrum and arc distance-based sampling frequency selection method for multiband RF signals. In this method, a 3D visual expression of cylindrical surface spectrum of digital signal is introduced. This expression reflects better the circulatory nature of the spectrum of digital signals. It is found more intuitive, heuristic, and effective in dealing with undersampling issues of multiband RF signals than conventional spectrum expressions are. A function of arc distance between two frequency bands are also introduced which turns out to be useful in the determination of sampling frequency and design of digital filters.