The mechanics of DNA supercoiling is a subject of crucial importance to uncover the mechanism and kinetics of several enzymes. It is therefore being investigated using several biochemical and biophysical methods including single molecule experimental techniques. An interesting problem within this realm is that of torsional buckling and plectoneme formation in DNA as it is simultaneously put under tensile and torsional stress. Analytical solutions to this problem are difficult to find since it involves nonlinear kinematics and thermal fluctuations. In this paper we use ideas from the Kirchhoff theory of filaments to find semi-analytical solutions for the average shape of the fluctuating DNA under the assumption that there is no self-contact....