If you visit the command center, and click the table where you send them on missions, you can choose the follower tab on there. It will give you the breakdown of what their armor and weapon ilvls are. Strange that you cannot see that in the follower menu on your minimap, though.
Click on your command table, then followers, and click on the follower you want to look at. I think they need to be 100 to have items, at least only my level 100s do.
You should see "iLvl xxx" followed by a weapon and armor ilvl slot. Click on the gear piece you have then on those slots to equip them.