I was hoping I could just wing it like with the Mun and Minimus
You can, but it's less efficient. Do a burn to the orbit of your target planet. Once your trajectory touches the orbit of your target planet, time accelerate to that point. Then set up a manoeuvre node to burn prograde or retrograde until you get an encounter. Usually, you won't need very much to get that encounter - you don't have to completely circularise your orbit.