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We consider the problem of optimal path planning on a manifold which is the image of a smooth function. Optimal path-planning is of crucial importance for motion planning, image processing, and statistical data analysis. In this work, we consider a particle lying on the graph of a smooth function that seeks to navigate from some initial point to another point on the manifold in minimal time. We model the problem using optimal control theory, the dynamic programming principle, and a Hamilton-Jacobi-Bellman equation. We then design a novel primal dual hybrid gradient inspired algorithm that resolves the solution efficiently based on a generalized Hopf-Lax type formula. We present examples which demonstrate the effectiveness and efficiency of the algorithm. Finally, we demonstrate that, because the algorithm does not rely on grid-based numerical methods for partial differential equations, it scales well for high-dimensional problems.