You can test that they spin and that the bendix throws the pinion out, but that might not necessarily mean the starter is strong enough to work properly.
Just use some jumper cables to run power to the starter. Clamp the ground onto some bare metal on the case. There are usually some ribs on the nose of it that will work. Then clamp the hot lead onto the lug where the big wire from the battery goes. Finally, hold or clamp it down and use a screwdriver or wire to jump the hot lug to the starter wire trigger (usually a "spade" or slide-on type of connector).
Do hold it down good, they tend to jump.
Pete