Yes, there is an easy way. You need to have Parallels Desktop installed on your new Mac. Then just copy the folder or .pvm bundle of Virtual Machine to your new Mac. It is usually located in /Documents/Parallels/.
If you have Parallels Desktop 3.0 you need to copy the folder of Virtual Machine to the same folder.
If you have Parallels Desktop 4.0 you need to copy the .pvm bundle of Virtual Machine to the same folder.