West Valley City police Sgt. Jason Hauer said Majano was the alleged triggerman, adding that police believe the other men had knowledge that Majano planned to shoot Hernandez and allegedly agreed to the shooting.
Police said Hernandez's death was linked to a long-standing gang rivalry.
Police said the six men were riding inside two SUVs when they encountered Hernandez, who was walking from a family home with some other people, according to a probable cause statement released by the Salt Lake County jail. The vehicle carrying Majano came to stop and Majano and Hernandez exchanged words, jail records show.
When Hernandez started to approach the vehicle, Majano pulled out a handgun and shot Hernandez several times, jail records show.
The two vehicles then fled the scene.
Police said the six men were linked to the shooting by witness statements and other information gathered during the investigation.
In addition to aggravated murder, Cruz and Majano were arrested for possession of a firearm by a restricted person and obstruction of justice, both second-degree felonies. Argumendo and Padilla also face a possible charge of obstruction of justice, a second-degree felony.