Resonant ultrasound spectroscopy (RUS) is a powerful technique for measuring the full elastic tensor of a given material in a single experiment. Previously, this technique was practically limited to regularly shaped samples such as rectangular parallelepipeds, spheres, and cylinders [W. M. Visscher et al. J. Acoust. Soc. Am. 90, 2154 (1991)]. We demonstrate a new method for determining the elastic moduli of irregularly shaped samples, extending the applicability of RUS to a much larger set of materials. We apply this new approach to the recently discovered unconventional superconductor UTe2 and provide its elastic tensor at both 300 and 4 kelvin.