Alma 23:1-2; “Behold, now it came to pass that the king of the Lamanites sent a proclamation among all his people, that they should not lay their hands on Ammon, or Aaron, or Omner, or Himni, nor either of their brethren who should go forth preaching the word of God, in whatsoever place they should be, in any part of their land.  2 Yea, he sent a decree among them, that they should not lay their hands on them to bind them, or to cast them into prison; neither should they spit upon them, nor smite them, nor cast them out of their synagogues, nor scourge them; neither should they cast stones at them, but that they should have free access to their houses, and also their temples, and their sanctuaries.”

Jonah 1:1-3; “Now the word of the LORD came unto Jonah the son of Amittai, saying, 2 Arise, go to Nineveh, that great city, and cry against it; for their wickedness is come up before me.”

Note:  It can be argued that OT prophets are “missionaries” for God and Israel’s calling as being God’s chosen people places them in the position of “every member a missionary”.

However, there is no conclusive evidence in the OT where teams of missionaries went abroad to witness of God’s work.  The daily life of the Israelites stood as a clear testament to the Gentiles of Whom the Israelites worshipped.  It is improbable at best these scenarios would have occurred.