In this paper, we study how coded caching can be efficiently applied to multiple-input multiple-output (MIMO) communications. This is an extension to cache-aided multiple-input single-output (MISO) communications, where it is shown that with an $L$-antenna transmitter and coded caching gain $t$, a cumulative coded caching and spatial multiplexing gain of $t+L$ is achievable. We show that, interestingly, for MIMO setups with $G$-antenna receivers, a coded caching gain larger than MISO setups by a multiplicative factor of $G$ is possible, and the full coded caching and spatial multiplexing gain of $Gt+L$ is also achievable. Furthermore, we propose a novel algorithm for building low-subpacketization, high-performance MIMO coded caching schemes using a large class of existing MISO schemes.