It is not possible to directly reference the version of some arbitrary dependency (transient or not).
However, in your parent pom you can define a property:
<properties>
...
<yourCdep.version>
...
</properties>
and add the dependency in to a dependencyManagement section:
<dependencyManagement>
<dependencies>
...
<dependency>
<groupId>yourCdep.group</groupId>
<artifactId>yourCdep</artifactId>
<version>${yourCdep.version}</version>
</dependency>
...
</dependencies>
</dependencyManagement>
Remove the version from the dependency in module B as it is now "managed".
The property value in the parent pom will be accessible in both modules A and B.
In particular, this property value can now be applied when resource filtering.