Put the digits 0 1 2 3 4 5 on one of the cubes and put the digits 0 1 2 6 7 8 on the other cube.

Somebody would ask: "What about the '9' digit?". I would suggest: "Rotate the '6' digit 180 degrees".

That is not the only solution. There are non-repetitive 20 solutions, using the digits 0, 1 and 2 (permanent digits) and 3, 4, 5, 7, 8 and 6 or 9:

012345-012678 012345-012789 012346-012578 012347-012568 012347-012589
012348-012567 012348-012579 012349-012578 012356-012478 012357-012468
012357-012489 012358-012467 012358-012479 012359-012478 012367-012458
012368-012457 012378-012456 012378-012459 012379-012458 012389-012457

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