One method i use quiet often is to align an object with the workplane.

In this example i want to align the cylinder to the cube. Align the axis of your objects first if you have a specific target!

Select your target object, go to “Tools – Workplane – Align Workplane to Selection

Select your other object, go to the coordinates system, change the mode from object to world.

Set X,Y,Z and HPB to Zero and hit apply.

Reset your workplane to Y (default)