I have some of my Crossfit athletes and even bodybuilding clients do this several times a week to help prevent shoulder injuries.
Shoulder rotation/circles standing
10 reps both directions (done back to back, no rest between both) 2-3 sets.
Shoulder rotations/circles lying
10 reps both directions (done back to back) 2-3 sets
Shoulders rotations/circles chest-supported
10 reps both directions (back to back) 2-3 sets
8-12 reps, 2-3 sets
Wall crawl 2-3 sets