The little pump in the quart bottle is what I use. In cold weather, be sure to keep the fluids inside... the pump has a real time with thick cold oils.
The pump has a pickup tube that can be replaced with a longer chunk of plastic tube (1/4" PE?) so you can also pump out stuff without drains, like the power steering and front diff.
A longer tube and you can pump 2 quarts out of the auto trans. (I had a trans with unknown history but old fluid, so I started swapping out 2 quarts at a time to kind of ease the new fluid into service. MERCON V!)