The victims were aged 13 to 15 and 14 to 16 when the offending took place.
The court was told that after Makhmood raped the girl, he called her demeaning names and spat and laughed at her.
Liz Fell, specialist prosecutor for the CPS Organised Child Sexual Abuse Unit, said the men “exploited the victims’ youth and vulnerability to manipulate and control them”.
She added: “They sexually abused the victims, who were children, in the most horrendous way.
“The treatment these young girls endured was appalling – they were attacked in isolated locations and subjected to humiliation and verbal abuse.”
Both Makhmood and Hussain were found guilty of rape while Ajab was found guilty of rape and indecent assault.
The trio were charged following an investigation by the National Crime Agency as part of Operation Stovewood – a major inquiry into child sexual abuse and exploitation in Rotherham between 1997 and 2013.