In the first case when you have only the moving charge (lets call it $q_1$) there is no magnetic field in a frame of reference which is moving with $q_1$. This is because the velocity of the $q_1$ is zero with respect to that frame. I gather that you already understand this.
However, when you add the second charge, which is motionless in the lab frame (lets call it $q_2$) there is now a magnetic field in the frame moving with $q_1$. This field does not come from the motion of $q_1$, however. The velocity of $q_1$ is still zero. Now, however, the velocity of $q_2$ which is zero in the lab frame is not zero in the frame moving with $q_1$. Thus, the magnetic field in the frame moving with $q_1$ comes purely from the motion of $q_2$ relative to that frame.
EDIT: I apologize I believe I misread your question initially. In order to calculate the magnetic field from a frame moving with $q_1$ all you need is the velocity of $q_2$ with respect to that frame, because of what I explained above (perhaps you already knew this). Then the magnetic field at a certain position is:
$$ B = {\mu _0 \over 4 \pi } *{q_2 vsin(\theta) \over r^2}$$
where $v$ is the velocity of $q_2$ relative to your frame of motion, $r$ is the distance from the point charge to the point at which you are measuring the field, and $\theta$ is the angle between the velocity vector and the position vector of the point at which you are measuring the field. Note, this only gives you the magnitude of the field. To get the direction you can employ the right hand rule.
If you go to this link and scroll down to chapter 28 there is a nice image of this situation. With the moving charge, the displacement and velocity vectors, and the magnetic field at certain points.