iCloud

Not easily since photos are only added to photo stream after it's turned on; existing photos like the ones you want to transfer are not added. Instead, import them to your computer (see http://support.apple.com/kb/HT4083), put them in a folder, then sync the folder to your new phone from the Photos tab of your iTune sync settings.

Alternatively, if you want to transfer more than just photos and don't have any new data on your new phone, you can back up your old phone in iTunes, then restore your new phone to this backup. (The backup includes camera roll photos.)