There's a neat way to roll cables, called Roadie Wrap. Best described in video, but basically, you alternate the twist direction while you add each loop to the roll. Every other time the free end goes under the forming loop.
Another technique I've found, and the one I prefer these days, is to coil the cables in the opposite direction when I put them away from when I opened them. If I wrapped the cable around my left arm before, when putting away I use my right arm. This also removes the twist like the roadie wrap. The roadie wrap removes the twist per revolution. This method removes it over the length of the cable.
I usually grab with my thumb toward the far end of the able first, then the next grab my thumb is toward the coil I am making. Your arm and its available motions sort the rest out.
Not only will a properly wrapped cable (with the natural twist and loop size of the cable) whether straight or over-under unwrap without knotting if unwrapped correctly, it will hugely extend the life of the cable over something like folding them.
Source: I was an intern at a music venue, spent a lot of time wrapping/unwrapping cables.