Hello,
After some tests with OpenSSL I’m sharing some use cases below.

Ref:
https://www.openssl.org/docs/man1.1.1/man1/openssl-pkeyutl.html

generate a 3072 bits RSA key
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OpenSSL> genrsa -f4 -out key3072.pem 3072

print RSA key to text file
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OpenSSL> rsa -in key3072.pem -out key3072.pem.txt -text

ASN.1 parse key and export to PEM format file
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OpenSSL>asn1parse -inform PEM -i -in key3072.pem -out key3072.der

Encrypt / Decrypt with PKCS#1 v1.5 method (EME-PKCS1-v1_5)
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OpenSSL> rsautl -encrypt -inkey key3072.pem -in TestKey.bin -out TestKey.bin.enc
OpenSSL> rsautl -decrypt -inkey key3072.pem -in TestKey.bin.enc -out TestKey.bin.dec

Encrypt / Decrypt with PKCS#1 v2.2 OAEP method (EME-OAEP-ENCODE)
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MGF Hash Function SHA1
Padding SHA1
OpenSSL> pkeyutl -encrypt -inkey key3072.pem -in TestKey.bin -out TestKey.bin.oaep3.enc -pkeyopt rsa_padding_mode:oaep -pkeyopt rsa_oaep_md:sha1 -pkeyopt rsa_mgf1_md:sha1
OpenSSL> pkeyutl -decrypt -inkey key3072.pem -in TestKey.bin.oaep3.enc -out TestKey.bin.oaep3.dec -pkeyopt rsa_padding_mode:oaep -pkeyopt rsa_oaep_md:sha1 -pkeyopt rsa_mgf1_md:sha1

Encrypt / Decrypt with PKCS#1 v2.2 OAEP method (EME-OAEP-ENCODE)
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MGF Hash Function SHA1
Padding SHA-256
OpenSSL> pkeyutl -encrypt -inkey key3072.pem -in TestKey.bin -out TestKey.bin.oaep1.enc -pkeyopt rsa_padding_mode:oaep -pkeyopt rsa_oaep_md:sha256 -pkeyopt rsa_mgf1_md:sha1
OpenSSL> pkeyutl -decrypt -inkey key3072.pem -in TestKey.bin.oaep1.enc -out TestKey.bin.oaep1.dec -pkeyopt rsa_padding_mode:oaep -pkeyopt rsa_oaep_md:sha256 -pkeyopt rsa_mgf1_md:sha1

Encrypt / Decrypt with PKCS#1 v2.2 OAEP method (EME-OAEP-ENCODE)
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MGF Hash Function SHA-256
Padding SHA-256
No OAEP Encoding Parameters
OpenSSL> pkeyutl -encrypt -inkey key3072.pem -in TestKey.bin -out TestKey.bin.oaep2.enc -pkeyopt rsa_padding_mode:oaep -pkeyopt rsa_oaep_md:sha256 -pkeyopt rsa_mgf1_md:sha256
OpenSSL> pkeyutl -decrypt -inkey key3072.pem -in TestKey.bin.oaep2.enc -out TestKey.bin.oaep2.dec -pkeyopt rsa_padding_mode:oaep -pkeyopt rsa_oaep_md:sha256 -pkeyopt rsa_mgf1_md:sha256

Decrypt with PKCS#1 v2.2 OAEP method (EME-OAEP-ENCODE)
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MGF Hash Function SHA-256
Padding SHA-256
OAEP Encoding Parameters = 39383736
OpenSSL> pkeyutl -decrypt -inkey key3072.pem -in TMK.HSM.2.oaep.enc.bin -out TMK.HSM.2.oaep.dec.bin -pkeyopt rsa_padding_mode:oaep -pkeyopt rsa_oaep_md:sha256 -pkeyopt rsa_mgf1_md:sha256 -pkeyopt rsa_oaep_label:39383736