How do I make an angle with the X axis, Y axis, and Z axis and not rotate AROUND the axis?

Hi I am working on an electromagnetics project and my task is to rotate electric field arrow Game Objects with different angles with respect to different axis (for example 30 degrees with respect to the x axis, 50 degrees with respect to the y-axis, and 12 degrees with respect to the Z axis) and not just rotate around the axis. Any idea how I can solve it would be appreciated. Thank you.