I would think that for diesel a simple drill-powered pump (just an enclosed impeller with a shaft that goes on the chuck) would do.
Gas, I'm not so sure. I tend to use one or two gallon jugs so I can keep them still, and I also use plastic funnels with straight sides to avoid spillage and static.
I know there are bulkhead mountable, rotary or lever-powered metal ones, and if I can find the URL for some I liked, I'll post it. I believe they are used to send fuel between tanks to enable cleaning or to bypass the regular filters.