Magento 1.9 - add configurable product directly to cart from croll-sells in shopping cart

i have a question about adding a configurable product directly from the cross-sell section to the cart on the shopping-cart page. With a simple product this is no problem because it has no attributes. But for a configurable product normally I have to choose via a dropdown which properties I want to have for my product (like a size or a color). If a choose a configurable product as a cross-sell and i click on the "Add-to-Cart"-Button it will be redirect me to the product detail page.

So the idea would be to have something like a popup where I can choose the size and color directly and add the product (with the choosen properties) to the shopping-cart.

Is there a module which brings the functionality (I can't find it)? Or can I write something by my own like a form for each crosssell?

Like the form on the product detail page

<form action="<?php echo $this->getSubmitUrl($_product, array('_secure' => $this->_isSecure())) ?>" method="post" id="product_addtocart_form"<?php if($_product->getOptions()): ?> enctype="multipart/form-data"<?php endif; ?>>
    <?php echo $this->getBlockHtml('formkey') ?>
    <div class="no-display">
        <input type="hidden" name="product" value="<?php echo $_product->getId() ?>" />
        <input type="hidden" name="related_product" id="related-products-field" value="" />
    </div>
...