Regular Asuma, Wind Blade Asuma, and Edo Asuma all gain you 20 chakra extra at the start of the battle (40 if you have WB Asuma's Courage passive BT at +2). Regular Temari (3 stars) also gains 20 chakra at the start of the battle. There might be others but those are the ones I can think of right now.

You could also use Fire main or Lightning main to gain chakra, but the problem is it's not as direct (it doesn't happen immediately at the beginning of the battle without any other actions). For Fire main you'd wanna use the Bani Chakra passive (gives 20-40 chakra) and one of his mysteries that you can activate in round 1 that costs 0 chakra (so, his shields mystery, or his sealing mystery). So if you were using him and Sasori, for example, you'd use Fire main's shields and then you'd immediately be able to use Sasori. For Lightning main, you'd want to use the Calm Mind standard attack which gains you 20 chakra. But with these, you have to activate a certain action beforehand (Fire's mystery or Lightning's standard) which isn't optimal imo, because that can be interrupted, or Sasori's puppet might be gone by then or something.