An accurate stochastic interpretation of subsurface stratigraphy with quantified uncertainty can benefit the subsequent risk management of geotechnical infrastructure. Traditional approaches to developing geological cross-sections from sparse boreholes typically require the calibration or definition of empirical model parameters and functions, which may introduce subjectivity and bias. In this study, a non-parametric and continuous variable-based spatial predictor that leverages the signed distance function and Bayesian compressive sensing (BCS) is proposed for subsurface stratigraphic modelling. The proposed method transforms sparse categorical borehole data from a low-dimensional space into continuous variables in a high-dimensional space, enabling a comprehensive representation of more implicit characteristics of intricate geological patterns. This transformation facilitates the use of the continuous-variable-based BCS for non-parametric spatial prediction. The most probable geological cross-section and uncertainty qualification plot are derived after transforming spatially interpreted fields of continuous variables back into soil types. The performance of the proposed method is demonstrated using synthetic and real-world cases. Results indicate that the proposed approach can handle intricate stratigraphic scenarios characterized by complex geological structures, such as crossed-inclined, folded, inclined-folded, and interbedded strata, in a data-driven and non-parametric manner. The advantages of the proposed method over existing spatial predictors for developing geological cross-sections are also demonstrated.