As others have mentioned the first place to go is the manufacture's datasheet.
If you are looking for some sort of formula, relevant standards are IPC-J-STD-001 and IPC-7351.
Or you use a third party tool that is kind of based on the IPC standards and adds a few improvements like the tool from pcblibraries.com (they have a free version of their tool).
As for solder mask the best way is normally to make solder mask openings 1:1 land size and leave the manufacturer the option to resize openings according to their capabilities (e. g. in the fabrication notes).
No solder mask between pads is definitely not recommended. If you have a fine pitch part you should double check with your fabricator, if he is able to leave some solder mask between the pads. Your assembler will thank you