If you don't mind moving the figure afterwards the Pose dot can be a quick method

Make sure inverse kinematics is off on the target figure
Select the figure you want to copy the pose from
Find the Dots window (see below)

By default it will be "UI Dots" - change it to Pose

Click of one of the empty dots (dark grey in above). This should change colour to indicate the pose has been saved

Select the target figure and then click on the dot you saved the pose to

This will also move the figure so you will need to reposition afterwards

To clear a pose dot, select "alt" key and click on dot