A rotary drill bit may include a bit body rotatable about a central axis. The rotary drill bit may also include at least one cutting element coupled to the bit body. The at least one cutting element may have a cutting face, a cutting edge adjacent the cutting face, and a back surface opposite the cutting face. The at least one cutting element may be oriented so that a substantial portion of the cutting edge has a positive clearance angle, which may be defined by a first vector that is normal to the cutting face and a second vector that is tangential to a helical path traveled by the cutting edge during drilling.