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Rifle grenades can be launched by the M70, PAP M59/66, and BM59. You have to unfold the weapon's grenade launcher ladder sight before you can load a grenade. The weapon has to have the folding sight to be able to load rifle grenades, so the WW2 guns cannot use them.
I highly recommend Rato's GBO mod with it's ToG compatibility patch (and Rato's AI and explosives overhaul mods as well). ToG has many issues and is no longer being actively developed, but Rato's ToG compatibility patch is frequently updated. Rato's mods also have many other features and benefits that are well worth the learning curve IMO.
Note: the BM59 and some other ToG weapons are not currently supported in Rato's ToG compatibility patch.