The selection of shape and rotation frequency for scroll waves in reaction-diffusion equations modeling excitable media is investigated. For scrolls with uniform twist about straight filaments, asymptotic methods are used to derive free-boundary equations at leading and first order. Both orders are validated against full solutions of the reaction-diffusion equations. Using these two orders and with no adjustable parameters, the shape and frequency of waves are correctly predicted except possibly near the point of propagation failure where the core becomes large.