If the tank is deployed onto the table already when it comes time to deploy a unit which could legally be carried by it, you can deploy them into it. Page 81.
If both are in Reserve for some reason, you must roll for them separately as required by the rules for two units which are not part of the same Force Org slot, but you can have the unit enter the table embarked on the transport IF they both happen to arrive on the same turn. Page 4 of the main rulebook FAQ.
If the infantry unit starts on the table and the transport starts off (Fire Dragons and Falcon in an Escalation mission), you're out of luck.
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