You can set the Axis of rotation to anything you want, but if some other face in the drawing is at that AOR it becomes super easy.
Select the object to rotate.
Select the Rotation tool, but do not click on anything yet.
Position the Rotation tool ON the "remote" AOR face then press and hold the <SHIFT> key.
Move the Rotation tool to the correct position on the selected object and click. Release the <shift> key and complete the rotation.