Siphon the beer out of the carboy like you normally do, and whatever gets left over (generally around 0.25-0.5gal for me, leave a little more if you like), take that and swirl it around until all the yeast is up in suspension. Then you can sanitize the top of the carboy with some starsan spray and pitch it into your bbl batch like you're pouring from a flask into a carboy, just at a lot larger level!
Edit: Actually, good call on the washing if you've got the time. You'll get a lot cleaner yeast that way as you can get a bunch of the trub out of the yeast before pitching it into the big batch.
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