We present the results of a theoretical study of XUV superfluorescence from doubly excited states of helium resonantly pumped by free-electron laser (FEL) pulses. Our model allows us to predict both the spectrum and angular distribution of emitted XUV radiation in a wide range of experimentally accessible parameters. This is achieved by going beyond two key deficiencies of most previous models: The one-dimensional treatment in space is upgraded to three dimensions with electromagnetic fields treated in the paraxial approximation and spontaneous emission is modeled by a recently developed approach that avoids the unrealistic delayed response but preserves the expected characteristics of the emitted field in the spontaneous emission limit. The case study of $3a{\phantom{\rule{0.16em}{0ex}}}^{1}{P}^{o}$ resonance in helium with $63.66\phantom{\rule{0.28em}{0ex}}\mathrm{eV}$ excitation energy is presented for realistic parameters of seeded light pulses from the FERMI FEL facility and a recently developed high-pressure gas cell. Results of numerical simulations show that both the spectral width and angular divergence of emitted radiation vary with gas pressure and pump pulse intensity in a complex way.