There are still some perfectly good manual piston pumps out there that are specifically designed for gasoline transfer. Your local auto parts store may have one.
Siphoning from some modern cars is a pain because of the baffles in the tank, but it's usually possible to get most of the gas out.
When I was in high school, a neighbor used a vacuum cleaner to siphon gasoline from his car's tank. Surprisingly he was uninjured although the car was a total loss.
--scott