Yes, there was doctrine.
Reddit says
There is definitely a section in the TigerFibel that discusses angles at which the tiger can be penetrated and by what. I did Google quickly but can't find a good link. I can't remember but I think it does mention some angling of the frontal armour to maximise its effectiveness,. . .
The Tigerfibel, and the best translation I can find. Page 80 covers using angle to improve armor effectiveness.
On that link the images are in German, but there is an English translation at the very bottom (outside the frame, easy to miss)