No, it is impossible to get Infernape with stealth rock in Gen 6 without learning the move stealth rock from gen 4 or 5. No one teaches stealth rock in gen 6 and it cannot be an egg move of imfernape's. Therefore, you cannot get an infernape with steath rock just in gen 6.
Also, pokebank is not out yet but when it does come out, your perfect iv infernape cannot go to gen 5, poke bank does not work like that. If it did, new Pokemon would go to older games, which should not happen. So therefore, without getting a infernape from gen 5 that knows stealth rock already, it is impossible to get an infernape that knows it in gen 6.