A prevoiusly proposed method for communicating with multiple antennas over block fading channels is unitary space-time modulation (USTM). In this method, the signals transmitted from the antennas, viewed as a matrix with spatial and temporal dimensions, form a unitary matrix, i.e., one with orthonormal columns. Since channel knowledge is not required at the receiver, USTM schemes are suitable for use on wireless links where channel tracking is undesirable or infeasible, either because of rapid changes in the channel characteristics or because of limited system resources. Previous results have shown that if suitably designed, USTM schemes can achieve full channel capacity at high SNR and, moreover, that all this can be done over a single coherence interval, provided the coherence interval and number of transmit antennas are sufficiently large, which is a phenomenon referred to as autocoding. While all this is well recognized, what is not clear is how to generate good performing constellations of (nonsquare) unitary matrices that lend themselves to efficient encoding/decoding. The schemes proposed so far either exhibit poor performance, especially at high rates, or have no efficient decoding algorithms. We propose to use the Cayley transform to design USTM constellations. This work can be viewed as a generalization, to the nonsquare case, of the Cayley codes that have been proposed for differential USTM. The codes are designed based on an information-theoretic criterion and lend themselves to polynomial-time (often cubic) near-maximum-likelihood decoding using a sphere decoding algorithm. Simulations suggest that the resulting codes allow for effective high-rate data transmission in multiantenna communication systems without knowing the channel. However, our preliminary results do not show a substantial advantage over training-based schemes.