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In the screen where it shows your family tree, find the "send on a diplomatic mission" tab.
Every turn you use that option to send someone over to talk with your ally. Eventually (if you're lucky) they'll end up giving you a settlement...
And you might wonder if it is too agressive to send your armies in raid stance, but it is not; as long as you have military access, I think it only gives a -10 penalty in relationships, which I assume you can afford since they are your allies and the relationships are probably over 100. The agent actions against your ally can put a dent on the relationships tho.
If they can defend themselves against these actions (for instance, if your ally is Greek, and the province is already Greek, it is not very likely that this will work) your only peaceful option is the random diplomacy event.
This mission costs money and fails at least as often as it succeeds. When it fails, your relationship with the target gets worse, and you incur some sort of malus- anything from a temporary penalty on trade income or army morale, to the diplomat you send being wounded or killed. So is it worth gambling your money this way? Absolutely, if you have the money to spare, and if you don't mind losing the character. That's because the rewards are potentially more significant than the penalties. Sometimes you get a large sum of cash, or a settlement will outright defect to your nation. (It's random, and in my experience, it's always a settlement that's on your border- I've never managed to snag a settlement from an overseas nation).
I've read that the following factors influence the odds of success:
You're more likely to succeed if the foreign nation already likes you.
The more ambitious the diplomat is, the more likely they are to succeed.
The higher the diplomat's gravitas, the better.
If you have the bigger nation, a foreign territory is more likely to defect to you.
In my experience, that's all true, but I haven't subjected it to any rigorous testing.
I can't prove it, but I think your diplomat is immune to dying of natural causes while on a mission. Once as Kush, I sent an ambitious widow on diplo missions every year. She started in her 70's, and she ended up living to 120 (!). She was wounded lots of times (slipped in the bathtub, I assume) but she gained me most of Syria and Arabia, all by herself. She also married several of my political rivals over the years (usually men decades younger than herself). The only downside was she ended up founding her own political dynasty, which survived her.
Sometimes I'll send an annoying character to negotiate with my most hateful enemies, just because it's less trouble than having them assassinated- only for them to return with tribute.
Finally, you can send members of a rival political faction as diplomats (and you will still receive any potential benefits) though they will gain gravitas if they succeed, and if the diplomat is killed, you'll take a temporary loyalty hit.