The sweep feature can still be used in this situation, but the twist angle must be calculated from the specified helical angle (α), pitch circle diameter (D), and gear height (H). This is because the definitions of helical angle and twist angle (θ) differ.
Formula:
θ=2⋅arcsin(H⋅tan(θ)/D)
This relationship is derived from the geometric construction shown in the diagram below.

For example:
With α = 20°, H = 6 mm, and D = 8 mm (planet gear), the twist angle θ is 31.7°.
For the ring gear, using the same height (H = 6 mm) but a larger pitch circle diameter (D = 24 mm, to accommodate four planet gears and one sun gear), the twist angle θ is 10.4°.
Of course, all gears must share the same module to mesh properly.
Below is proof of the assembled result and its cross-section view:


As others have mentioned, you can use the GF Gear Generator add-on to automatically generate gears of this type. However, it does not support on-the-fly parameter editing. This means that if you want to try a different gear size, you’ll need to start over—re-doing the alignment, joints, etc.—since nothing is linked. For this reason, I usually prefer to build a simple custom gear component myself. It makes iteration and development much easier later on.