I've never tried it, because it would have to be hand coded, but I think you'll have to switch modal planes with a G18 for arcs in the XZ plane or G19 for arcs in the YZ plane. Then back to G17 for regular arcs in the XY plane.
Of course, you will have to make sure the address of the arc centers corresponds with the axis named in the G02 or G03, which you would still be using to command the arcs.
G18 G02/3 X Z I K
G19 G02/3 Y Z J K
If I'm wrong, I see Geof here typing away, too
First you get good, then you get fast. Then grouchiness sets in.
(Note: The opinions expressed in this post are my own and are not necessarily those of CNCzone and its management)