The sixth chords are formed in a similar manner to the seventh chords. As you may have guessed, the only difference is that instead of adding the seventh tone, we add the sixth. Like many chords, there are a couple ways to think about the formation of the chord. One way is to think of a Major Scale. Consider a C Major scale. It has the notes C, D, E, F, G, A, B. The Minor 6 chord contains the scale tones 1-b3-5-6. So we end up with C-Eb-G-A.
I personally don't like thinking of Minor 6 chords in terms of a Major scale with a flatted 3rd. Instead, consider a C Dorian or a C Melodic Minor scale. They have the same first 6 tones and of course have a minor tonality. The first 6 tones of these scales are C, D, Eb, F, G, A. You can then think of the Minor 6 chord as being formed by the scale tones 1-3-5-6. Again, you end up with C-Eb-G-A.
Above are some of the most useful fingerings for Minor 6 chords. In most cases I left out the 5th since it is not needed to capture the essence of the Minor 6 sound.
Next, I will show you useful fingerings for Major 6 chords.