not without mods. I know of a few good mods for that, though, but you will probably need to land a third vehicle to make them work. First off, there is the "quantum resource transfer" and "Merlin's magic resource transfer" (names are not exact). both work by placing a part on your ship and then allowing you to transfer resources to other nearby ships. I think that both only require one ship to have the special part. Personally, I like the quantum one better because it seems to feel more realistic. Then, there is also the buran manipulator mod, which has a roboot arm that creates a dockin connection to non-docking ports. I think you can transfer resources through it, but I'm not sure. With stock parts, you need to dock things together before you can transfer resources, which is very difficult to do on the surface of the moon.