Shaft coupling
Chain and sprockets
Toothed timing belt and sprockets
V-belt and pulleys
Flat belt and pulleys
Universal joints
Friction clutch
Torque converter
Typically with some sort of flexible coupling, like this one
The two hubs are attached to the shafts (which are often provided with slots for woodruff keys,or splined) and the elastomeric material in between takes up the misalignment (within limits!)