in coh 2 i do it by turning off fire at will (if it is available), move towards the target squad at full speed. as soon as the infantry dodge the tank, make a gentle turn to run them over while not slowing down too much. the whole key to it is just speed, and getting good at getting your tanks to turn without it going into a doughnut. As soon as the tank start doing a dougnut you'll the needed speed to crush.
the only tanks i find that crushing to be relatively easy with is the jackson and the su-76. other tanks are just too slow to do it easily/reliably, and you'll typically do more damage by just sitting still and firing.
exact opposite for me regarding Su76 and Jackson.
I cant crush for pudding with those. Shermans M10s and t34s its become second nature,
and ive never crushed hordes of allied infantry with german tanks on purpose like i can with allied tanks for some reason