transfer music and playlists from one ipod to another

I'm rather new to Apple/iTunes, so I'll try to explain this the best I can. Last year my daughter gave me her old iPod Touch. I'm a Microsoft Zune guy so I added playlists and music to the iPod the same way you do to a Zune...I drag-and-dropped them onto the iPod. I created several different playlists on the devise itself - not in iTunes - and then dragged all of the music onto the devise in iTunes and then the various songs into the various playlists on the devise. Did not do this through syncing. I replaced that iPod because the battery won't hold a charge and so I'm trying to copy/transfer/drag-and-drop the songs and playlists from the original iPod to the replacement, but it won't let me. In researching, it appears the issue is my lack of syncing, but if that's true, I'm having a hard time believing that I was able to add music and playlists via the drag-and-drop method but now I can't do the same from devise to devise. Am I overlooking something? Is there a way to copy without syncing? I've also read there are 3rd party programs but they're wanting $40 - $50/year and higher. Any thoughts on how to do this without wiping everything from the original iPod or paying an arm and a leg for a program I'll use once?