RX=	1	0	0
	0	cos φ	- sin φ
	0	sin φ	cos φ

RY=	cos θ	0	sin θ
	0	1	0
	0	-sin θ	cos θ

RZ=	cos ψ	-sin ψ	0
	sin ψ	cos ψ	0
	0	0	1

Then your rotation matrix is R_X * R_Y * R_Z, with θ the amount of rotation around the X axis, φ the amount of rotation around the Y axis, and ψ the amount of rotation around the Z axis.