Gerunds and infinitives can function as nouns and verbs in sentences. Gerunds are formed with the '-ing' form of a verb and can be used as subjects, objects, or after prepositions. Infinitives are formed with 'to' plus the base form of the verb and are commonly used after modal verbs. Certain verbs take either gerunds or infinitives as complements with subtle differences in meaning. Both gerunds and infinitives can be modified in tense and voice.