Moving object next to another object.

Is there a common way to get to game objects with colliders to 'touch' each other without trying to reach the same position?

I dont want to move object A to the position of object B cause they will collide or get on top of each other. I want them to move up to each other like if to shake hands side by side.

I can think of several ways to calculate it, but usually Unity has a smoother easier way of doing it.I know the renderer.bound has information about the are that the object ocuppies but i need help in calculating what point of the bounds is the closes to the other object, or something like that.