If this was a Mac to Mac requirement then using Disk Images would be the logical solution. If it was Windows to Windows then possibly BitLocker which is Microsoft's equivalent would be the approach.
Because you are going Mac to Windows and possibly the reverse your options are much more limited. Both Mac and Windows support encrypted ZIP files but as you say this is not the best in terms of security. I also would initially have suggested TrueCrypt but being discontinued any security weaknesses it may have will not be fixed.
There is one other software solution that is worth considering which is or was PGP Desktop. This is available for Mac and Windows. PGP is now owned by Symantec, unfortunately like most such ghastly giant software corporations they have rebadged it and merged it with other products such that it is hard now to tell which current product does the equivalent job. Symantec, McAfee, Oracle, Computer Associates they are all as bad as each other. 😕
I think this is the correct webpage - Symantec Endpoint Encryption | Symantec
Note: You would not want to use the full-disk encryption option which is equivalent to Apple's FileVault2, you only want to use the removable media encryption.
An alternative approach is to use a hardware encrypted USB memory stick, this comes with Mac and Windows apps to 'unlock' it and is what we use as a law firm. We use these http://www.kingston.com/en/usb/personal_business/dtlpg3