VCard
If you go into the contacts on iPhone, select the person whose details you want to share, tap Share Contact and then select EMail or Message (that's either iMessage or MMS), then it will send the Vcard to the person with the Android phone.
I exported my entire contacts list the other day via my computer and they've all gone into Google Contacts with all the details.
On Android, go into 'People' or whatever the contacts are called on there, tap on the contact, tap menu and then Share, select your option and there you are!
