Hi Groszni,
There are a number of ways in which it can be done depending upon what kind of forces need to be transferred.
1) For Pinned End Beams
The primary force to transfer is shear. You can embed a steel plate in concrete column with anchor studs (industry practise is to use Nelson Studs D2L or D3L Mild Steel Studs). The beam would get welded on the face of embeded plate. In that manner you can transfer the desired force in concrete. To develop concrete for applied shear force you would need to use equations outlined in ACI Code Appendix D.
2) For Moment and Shear Transfer
For this case, you need to transfer tension compression force couple as well as shear. The best thing to do would be either to weld rebars as shown below or provide anchor bolts where high capacities are required. Shear shall be transferred by studs. Use ACI Appendix D for required equations. Figure one is shown for presentation purpose only. A web connected beam won't be transferring any moment in the column.
Hope that helps.
Thanks.
Figure 1:
Figure 2