Yes, copyright and TM are different, but both can be handled similarly. Let's start with similarities.

You can register both individually, and then execute a licensing contract for each afterward. You sign and the new party signs. Terms of the agreement ae mostly up to both of you.

Trademarks allow for extra assignment recording rights. You can check the USPTO website for those or contact an attorney for specifics.

Basically, you creat a license, like GPL or a CC license or a custom one (how most are done).

You can charge a flat fee, ongoing royalties, or other. Whatever fits your goals and the market.

atty here btw.