hey man, as far as the infraspinatus and Teres minor go, both of these rotator cuff muscles only perform 2 movements. external rotation and horizontal abduction.
external rotation isn't something I see people do often in the gym but the way to do it on a cable machine is:
adjust cable height to just under the pecs I use the single rope attachment with a pronated grip.
keep your elbow tucked into your side with your forearm at a 90 degree angle, grab the rope, and while maintaining that tuck and 90, rotate pronated hand away from body.
for horizontal abduction, just like chris said, face pulls are the master.
message me if you have any questions man.