Below the function implementation in A, export it:
#include "moduleA_header.h"
int foo(void)
{
printk(KERN_NOTICE "Hi there!\n");
}
EXPORT_SYMBOL(foo);
Make sure that the prototype of your function is declared in a header file that you can include in module B. Also, make sure module A gets loaded before module B.
Just make sure that your include has the path right to the moduleA_header.h file.