There are some examples at the cardano-addresses project for getting different keys from the seed phrase: https://github.com/input-output-hk/cardano-addresses Also see cardano-wallet key command.
For the other way around I’m not sure.
The other way round is simply not possible. The steps done in deriving public and private keys from a seed phrase are very, very hard to do in the reverse direction. And even if you could, there would be no guarantee that the randomly chosen keys of cardano-cli would even be derivable with sensible derivation paths.