The following worked for me:

Use two props for parenting and move those. I've tried it in Pro 2012 and Pro 2010 and it worked in both versions. I loaded two ball props into the scene, set IK on for both arms for both figures and parented the hands to the props. 

So with Ball 1 I move Fig1-right hand and Fig2-left hand, with Ball 2 I move Fig1-left and Fig2-right.

Please be carefull that the arms are already bent in the first pose. If the arms are straight, the IK won't work properly.

Does that work for you?

 

A ship in port is safe; but that is not what ships are built for.
Sail out to sea and do new things.
-"Amazing Grace" Hopper

Avatar image of me done by Chidori.