The key is to start with the abstract formalism, i.e., to build the irreducible representations of the angular-momentum algebra,
$$[\hat{J}_a,\hat{J}_b]=\mathrm{i} \epsilon_{abc} J_c,$$
where I've set ##\hbar=1## for convenience.
It turns out that you can build common eigenvectors of ##\vec{\hat{J}}^2## and ##\hat{J}_z##, using the "ladder operators" ##\hat{J}_{\pm}=\hat{J}_1 \pm \mathrm{i} \hat{J}_2##. Then you can show that for the special case of orbital angular momentum, were the components are given by
$$\hat{\vec{L}}=\hat{\vec{x}} \times \hat{\vec{p}},$$
only the integer irreps, i.e., for ##l= \in \{0,1,2,\ldots\}## occur.
To map this formalism you realize the Hilbert space as ##\mathrm{L}^2(S)##, where ##S## is the unit sphere. As coordinates you can take ##(\vartheta,\varphi)##, i.e., the angles of the usual spherical coordinates parametrizing the sphere in ##\mathbb{R}^3##. Then you can construct the spherical harmonics with help of the ladder operators, leading easily to the above given Rodriguez formula, the scalar products/norms of the eigenstates etc.