How do I donate securities to set up a charitable remainder trust for supplementary income?

US national; married to Japanese, living 10 months in Japan for (part-time) employment, hope to return to SE PA where we have a condo. Have US & Japan bank accounts; would prefer to arrange a joint-and-survivor type of deal if such exist (knowing this is different from an annuity). Unsure of what "legal topic" this belongs to?