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Control envelopes characterize families of safe controllers and are used to monitor untrusted controllers at runtime. Our algorithm fills in the blanks of a hybrid system\u2019s sketch specifying the desired shape of the control envelope, the possible control actions, and the system\u2019s differential equations. In order to maximize the flexibility of the control envelope, the synthesized conditions saying which control action can be chosen when should be as permissive as possible while establishing a desired safety condition from the available assumptions, which are augmented if needed. An implicit, optimal solution to this synthesis problem is characterized using hybrid systems game theory, from which explicit solutions can be derived via symbolic execution and sound, systematic game refinements. Optimality can be recovered in the face of approximation via a dual game characterization. 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