ABSTRACT We investigate the predicted circumstellar properties of Type Ia supernova progenitor systems with non-degenerate helium star donors. It has been suggested that systems consisting of a carbon + oxygen white dwarf and a helium star can lead to Type Ia supernova explosions. Binary evolution calculations for the helium star donor channel predict that such a progenitor system is in either a stable helium-shell burning phase or a weak helium-shell flash phase at the time of the Type Ia supernova explosion. By using the binary evolution models from our previous study, we show that a large fraction of the progenitor systems with a helium star donor have a low enough density to explain the current non-detection of radio emission from Type Ia supernovae. Most of the progenitor systems in the weak helium-shell flash phase at the time of the Type Ia supernova explosion, which may dominate the prompt (short delay time) Type Ia supernova population, have both a low circumstellar density and a faint helium star donor, which could account for the non-detection of radio emission and a pre-explosion companion star in SN 2011fe and SN 2014J. We also find some progenitor systems that are consistent with the properties of the companion star candidate identified at the explosion location of the Type Iax SN 2012Z.