The nonlinear wave propagation in a homogeneous and isotropic elastic plate is analyzed theoretically to investigate the non-collinear interaction of plate wave modes. In the presence of two primary plate waves (Rayleigh-Lamb or shear horizontal modes) propagating in arbitrary directions, an explicit expression for the modal amplitude of nonlinearly generated wave fields with the sum or difference frequency of the primary modes is derived by using the perturbation analysis. The modal amplitude is shown to grow in proportion with the propagation distance when the resonance condition is satisfied, i.e., when the wavevector of secondary wave coincides with the sum or difference of those of primary modes. Furthermore, the non-collinear interaction of two symmetric or two antisymmetric modes is shown to produce the secondary wave fields consisting only of the symmetric modes, while a pair of symmetric and antisymmetric primary modes is shown to produce only the antisymmetric modes. The influence of the intersection angle, the primary frequencies, and the mode combinations on the modal amplitude of secondary wave is examined for a low-frequency range where the lowest-order symmetric and antisymmetric Rayleigh-Lamb waves and the lowest-order symmetric shear horizontal wave are the only propagating modes.