A novel approach to coherent nonlinear optical spectroscopy based on two-dimensional femtosecond pulse shaping is introduced. Multiple phase-stable output beams are created and overlapped at the sample in a phase-matched boxcars geometry via two-dimensional femtosecond pulse shaping. The pulse timing, shape, phase, and spectral content within all beams may be specified, yielding an unprecedented level of control over the interacting fields in nonlinear spectroscopic experiments. Heterodyne detection and phase cycling of the nonlinear signal are easily implemented due to the excellent phase stability among all output beams. This approach combines the waveform generation capabilities of magnetic resonance spectroscopy with the wavevector specification and phase matching of nonlinear optical spectroscopy, yielding the control capabilities and signal selectivity of both. Results on four prototype systems are used to illustrate some of the novel possibilities of this method.