I would go with the nylon snatch line. Go to any store that sells outdoor stuff, and they will have them.
Just to clarify, we are talking about the flat nylon tow straps here, not nylon rope. They usually have hooks attached at each end. Wrap around a sturdy part of the under carriage on both vehicles, place a blanket or jacket on the line about midway in case it snaps, and you should be good to go.