Tanks which are fast and turn quickly are best at crushing. Medium tanks in general are capable of this. The Cromwell medium tank and M10 tank destroyer are particularly famous for being able to do this easily. Axis vehicles are generally tougher and slower, and so usually less able to crush.
There are two ways to do it - the foolproof way is driving the vehicle at infantry so terrain like buildings or walls will block the infantry's movement when they will try to jump away from the oncoming vehicle so the vehicle will always flatten them. A good opportunity for this is at OKW T1 HQs serving as a forward retreat point - OKW infantry retreating to here will probably be right near a large building blocking them. An example:
http://cdn.makeagif.com/media/4-03-2015/nZX0Ei.gif
The second way requires turning the vehicle into the infantry squad as it is close to them. Infantry seem to jump away from vehicles perpendicularly to the moment they predict it will run into them, so when the infantry try to dodge away from it, the turning vehicle will still be moving into where they are, squishing them. This will require the vehicle to approach the squad on an angle, I'd say by about 30 degrees, before turning into them shortly before they dodge away. An example:
https://www.youtube.com/watch?v=W1OfCvt5wWM
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