I recently cataloged all of the permutations of the 2 and 3 axis planar rotations.
It is easy to write your own functions.
See the attached paper for the method equations, the section on "Repeated Angle Rotations".
Here is an exerpt from the paper:
See the paper for the definition of "direct" and "inverse" rotations. It effects the interpretation of the signs of the angles.
Once you calculate the Direction Cosine Matrix, you can convert it to a quaternion or a rotation vector.