How are cattle dogs taught to work cattle? (Please see comment.)
Brett Williams is spot on. Just teach them to stop when asked and the rest will work itself out. A good dog or a pair of dogs that work together can make gathering cattle much easier. The predator/prey thing really does work.
I had a good pair of border collies and would gather fairly large pastures in moderately rough terrain with 1 horse and those dogs. Often with one of my kids in the saddle with me. I really thought I was a cowboy. Then I lost the dogs and realized they were the cowboys!!
If a dog doesn't want to work cattle there is not much you can do about that. I'm not sure that answers your question but most of the teaching is getting close enough to the dogs that they will do what you ask of them. They already know how to "work" the cattle.