Maybe an "official" way to do it in the future. This thread details the challenges:
https://github.com/rancher/rancher/issues/16471
Until then, one method is to delete/detach the cluster from Rancher manager (
https://ranchermanager.docs.rancher.com/faq/rancher-is-no-longer-needed), and then import the cluster into the other Rancher manager instance. Rancher-specific configurations (project names and permissions) may be lost in the process and will need to be reconfigured.
Definitely test in a non-production environment with a non-production cluster before trying this on a live system.