an old off-roader technique used prior to nylon tow straps, and it works very well. It relies upon the inertial momentum of the towing mass just like a "snatch" strap, as opposed to raw traction or horsepower, and it applies zero shock load to either vehicle.
You will need 2 chains, with a total combined length capable of reaching from the towing to the towed vehicle, and 1 old used tire(no rim). Attach #1 chain to the stuck vehicle and to the tire. Attach #2 chain to the towing vehicle and the tire. The finished setup goes chain-tire-chain.
The chains and tire will look like this:
Towed []----------O-----------[] Towing
Once all is attached, with a driver in both vehicles, the towing vehicle simply drives away accelerating to about 5 -10 mph.
The elasticity of the tire smoothly transfers inertial force to the towed vehicle and out you come. The tire absorbs all of the shock load. Disclaimer: Non-essential people stand clear.