I do not know if there are established tools for this purpose; but I think one should be answer this relatively easily given the data you mentioned. Assuming that you are looking at human genomes, you can compare the genotypes across a set of common polymorphisms (e.g. common SNPs from dbSNP).
If sample A is a progeny of sample B, sample A will have to be homozygous or heterozygous alternate in the great majority (excluding sequencing errors / do novo mutations) of loci where sample B is homozygous alternate. Similarly, sample A cannot be homozygous alternate in loci where sample B is homozygous reference.