Numerical semigroups with multiplicity $m$ are parameterized by integer points in a polyhedral cone $C_m$, according to Kunz. For the toric ideal of any such semigroup, the main result here constructs a free resolution whose overall structure is identical for all semigroups parametrized by the relative interior of a fixed face of $C_m$. The matrix entries of this resolution are monomials whose exponents are parametrized by the coordinates of the corresponding point in $C_m$, and minimality of the resolution is achieved when the semigroup is maximal embedding dimension, which is the case parametrized by the interior of $C_m$ itself.