Normally you would use a crank to turn vertical motion into rotational motion, as the engine does. But could it be used to simply transfer existing rotational motion to a new, parallel line? The image below illustrates this in a side-by-side configuration, but it would be easy enough to to an over-under arrangement too.

Theoretically it seems sound, although the double-CV/double Universal joint sounds like it would be easier. It's an idea anyway.