The SDK provides the option to transfer assets within the same transaction, when making a contract call. By using add_custom_asset() you specify the asset ID, the amount, and the destination address:
let amount = 1000;
let _ = contract_instance
.methods()
.initialize_counter(42)
.add_custom_asset(
AssetId::zeroed(),
amount,
Some(other_wallet.address().clone()),
)
.call()
.await?;