I am not familiar with Cubase - but as mentioned above DP can manage this kind of thing too. For me tempo manipulation is as important as note pitch manipulation!
In DP you can record freetime (midi or audio or both) with no reference to any click and then use a feature 'record beats' which plays back the performance while you tap a midi condroller (finger pad/ piano key etc) in time with it. DP will realign the tempo grid to match your 'conducting'. End result is that the performance remains unchanged and tempo is mapped to it.
Any areas that need tightening up can be done with 'adjust beats' where you can literally drag the beat/ bar lines around to line up with (for instance) the start of midi notes or transients of audio (snapping is an option too). Again performance is unaffected, you're just manipulating the tempo map. (Of course DP can do it the other way round and align performance to tempo as well)
A favourite method for me is to record a 'performance orientated track' (piano, or rhythm style guitar - both instruments that express rythmic / dynamic changes well) concentrating ONLY on a good performance in terms of tempo, drive, wild abandoned expression etc! (and not worrying about missed notes or fudged chords in the slightest).... then I will map the tempo and meter to this performance track (as already descibed above) .... then I will start actually laying down tracks to the (now very musical) click track. So the original 'performance track' is never intended to be used, the piece may not even use piano or guitar, it is just used to create the click.
This is how I get the 'tempo that is coming out of my soul' into a sequencer! :)