User irW is correct, use SequenceFileOutputFormat. SequenceFile solves this exact problem, without converting to Text Writable. When setting up your job, use job.setOutputKeyClass and job.setOutputValueClass to set the Writable subclasses you are using:
job.setOutputKeyClass(MyWritable1.class);
job.setOutputValueClass(MyWritable2.class);
job.setOutputFormatClass(SequenceFileOutputFormat.class);
This will use the Hadoop SequenceFile format to store your Writables. Then in your next job, use SequenceFileInputFormat:
job.setInputFormatClass(SequenceFileInputFormat.class);
Then the input key and value for the mapper in this job will be the two Writable classes you originally specified as output in the previous job.
Note, it is crucial that your complex Writable subclass is implemented correctly. Beyond the fact that you must have an empty constructor, the write and readFields methods must be implemented such that any Writable fields in the class also write and read their information.