I think you issue is you can't match the question mark, instead you have to have a condition to match the querystring.
I've not tested this heavily, but play with this:
Code:
RewriteCond %{REQUEST_URI} ^/team-info.php$
RewriteCond %{QUERY_STRING} ^team_id=([0-9]+)$
RewriteRule ^(.*)$ http://www.yoursite.tld/team/$1 [R=301,L]
It may need some refinement, but it should get you close to where you are trying to go!