As a general rule, reinforcement is there for a reason, so coring should be planned to avoid rebar. One exception is minimally-reinforced, one-way slabs, which can usually handle single bars being cut by penetrations.
Sleeving through beams can be done anywhere, so long as you have considered the loss of section in your design. It may require additional section (deeper, wider, haunches) to maintain shear capacity near supports.
ACI 318 allows slab and wall reinforcing to be displaced (i.e., in plan for slabs) up to 3 inches to accommodate penetrations. Where openings are larger, corner bars are used to avoid cracks from re-entrant corners. Generally, added bars, equivalent to those which are discontinuous through moderate size openings, are placed to either side of the opening and developed by laps.
Cutting an opening in an existing slab requires a firm grasp on the actions of the slab and the pathways for forces. In new design, you can tell the forces where to go by design, but in existing structures, they are where they are, and dramatic changes can result in serviceability and strength problems.