It'll take 6 months to a year to get a CRADA written and signed. They're good for 5 years and can be amended. Budgets are generally side by side, transfer of funds doesn't work well. If you need people on site, working through a DoD staffing agency (e.g. Booz-Allen, one of the military medicine foundations, etc) is worth the overhead because they have the staffing experience.

There are tons of how-tos on line. Keywords are "CRADA", "technology transfer" (T2) and pick a noun or verb of your choice. Every federal department and agency has some sort of "T2" program with people who will even help write the CRADA for you. Commerce, Interior, HHS, all of them.

The key items are to write an effective statement of work and a budget. And understand these things are designed to accomodate big, enormous projects. Act of Congress scale projects. So, if you're going to think, you might as well think big. The paperwork is the same, big or small.