Yes, you'd either have to do an HTTP request for the entire view so it includes all the necessary headers or an iframe. For both you'd need to be sure your site security policy is setup to allow both domains to access cookies, etc.. In both cases you'd simply add tmpl=component to the URL to render just the component view (e.g. just the userlist or profile). Example as follows for profiles.
index.php?option=com_comprofiler&view=userprofile&user=USER_ID_HERE&tmpl=component
Beyond that there won't have any features in place to query the database of another site and build profiles. For that generally the best way is to synchronize the user data between the two sites so they exist on both sites.
Kyle (Krileon)
Community Builder Team Member
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