The easiest way would be to use a voltage sensititve relay like i have.
I used a national luna relay setup - think it was about £60 - it's been on 2 years now , with absolutely no problems.
The relay is an 85A cole hershee (you can google it) - 85A continuous and rated up to 400A for short periods.
The relay doesn't energise for 5 minutes after starting to allow the start battery to take some charge , then it closes and starts to charge the aux battery.
In fairness , i don't run a winch and never will , so it's been used for running fridges , lighting etc while we're away , but it's completely fit and forget.
If i remember correctly national luna also do a heavier duty relay too.
Hope this is of some use!
Darren