I'm not sure you can generalise among verbs.
For "like", I think there is no difference in meaning, but I find "like ski jumping" far more natural than "like to ski jump"; however, I have an impression that "like to" is more common in US English .
For "teach", there is a difference: "teach somebody to read and write" implies the imparting of those skills from the start; "teach somebody reading and writing" implies the two things regarded as subjects to be taught, and might include things like calligraphy or reading comprehension (though "reading and writing" will pragmatically suggest the basic skills). There will not necessarily be a difference in the events described by the two phrases, but if there is not, the focus is still different.