Space Fishing

Instead of docking to the space station, the resupply vessel launches a small satellite on a trajectory that will take it within a few kilometers of the station. The space station is equipped with harpoon-like device, which shoots a hook on a string toward the satellite as it passes. The hook (maybe a magnet) latches onto the satellite and the space station reels it in and brings it on board through an airlock. The astronauts can then open it to find dried ice cream, clean jumpsuits, and whatever else astronauts need.

The advantage is that any spacecraft capable of launching a satellite would be able to send supplies to the space station. It would also probably be safer because there would be a lower chance of a collision.