Hello there!
So there are many ways to work together in a VTC. Some of the more popular are as example TrucksBook or SpedV. Both amazing Softwares. Myself, I'm using SpedV and I would recommend it! Link to their website: https://www.sped-v.de/en/ It's an amazing tool to creat a VTC with all elements, including money, diverse costs and customizable numbers. And if you would rather just drive with your friend than worring about a whole company, then there are many companies that are open to that. (As exemple, I have a company myself, if you're interested, write me a PM )
Other ways without a VTC is WoT, or in long, World of trucks: https://www.worldoftrucks.com/en/ Register there and connect it to your profile in ETS2. If you've both have done that, you will have no issue whatsoever finding the same contracts. Just go at the same time to a company ingame and choose a world of trucks contract with WoT trailer or just WoT load and you will both have the same contracts/loads.
Hope I could help!
Best regards
Flying Cat