Okay, first of all, let's assume that the two space stations are aligned properly. How often does this happen? The key thing is that each satellite will drift westward each day, due to what is known as Nodal Precession. Wikipedia gives us an approximate formula:
- $ \omega_{p} = -\frac{3}{2}\frac{R_E^2}{(a(1-e^2))^2} J_2 \omega \cos i $
That gives each of them a precession value of (Using Heaven's Above values):
Thus, the relative differences are 1.06978147735 degrees. Thus, you can use the minimum solution once every 336 days.
Okay, so they line up properly, now what do you do? I don't have access to a simulator, so I'm going to break this in to two parts, the inclination change, and the raising of the orbit. In reality, these would be done together with an improved result, but it should give you an idea.
Well, let's assume that the change in eccentricity happens at the orbit of the ISS, as eccentricity changes are more effective in higher orbits. Also, let's assume a maximum efficiency transfer. Let's start with the harder of the two, the inclination change. I'm going to use the simplified formula for circular orbits, as the orbit is almost so. Thus, it is:
$\Delta{v_i}= {2v\, \sin \left(\frac{\Delta{i}}{2} \right)}$
Given that, the delta v is 1.084 km/s. Likewise, we can calculate the delta V to raise or lower the orbit appropriately. The quick way is to assume twice the change in orbital velocity (Once to raise the apogee, once to raise the perigee). Using this calculator, I find the ISS velocity is 7662.5112 m/s, and Tiangong is 7694.277. Thus, there is a change in velocity of only about 70 m/s required to raise the orbit thus.
Bottom line is, the major requirement to raise the orbit is the inclination change. I'm confident that a delta v of 1.2 km/s would be enough to make the change, if you did it at the right time of the orbit. This is less than the delta v to get to the Moon, so there are plenty of rockets that can manage the change.
So, the total momentum required to move the hypothetical 10 kg object between stations is 12 kN*s. Hydrazine, a very common fuel for on orbit purposes, has an ISP of about 220. Taking away the mass for fuel and engine, the Hydrazine required to do such a maneuver is only 5 kg. Virtually any reasonably sized spacecraft engine has that much maneuvering capability.
However, there is also the added complexity of getting it exactly right, as is required in a rendezvous. The best bet would be something like the Dragon capsule, modified to make sure it had enough fuel. Any of the spacecraft currently used for the ISS resupply could do that, possibly with slight modifications to increase the fuel load. In addition, given enough fuel, the Space Shuttle, Soyuz, and Apollo missions have demonstrated such capacity, although the first two would probably require more fuel than is typically done for a manned mission, they could be modified to have more fuel and run unmanned to make it happen.