Nuclear reactions between two heavy interacting ions with nucleon transfer have been reconsidered. The direct nuclear reaction mechanism is considered. Different reaction processes are considered for single neutron or proton stripping and pickup reactions. The interacting nuclear potential of the transferred nucleon is taken to have the form of the Skyrme-type potential. With this representation for the nuclear potential of the transferred nucleon, an expression for the differential cross section is obtained by using the distorted-wave Born approximation. This expression is applied and considered for the heavy ion reactions with incident heavy ion projectiles $^{10}\mathrm{B}$, $^{13}\mathrm{C}$, $^{16}\mathrm{O}$, $^{18}\mathrm{O}$, and $^{32}\mathrm{S}$ bombarding the heavy targets $^{27}\mathrm{Al}$, $^{28}\mathrm{Si}$, $^{29}\mathrm{Si}$, $^{30}\mathrm{Si}$, and $^{32}\mathrm{S}$. The energies of the incident heavy ions have values in the range between 36.0 and 100.0 MeV. Numerical calculations of the differential cross sections are carried out. The theoretically calculated angular distributions are in good agreements with the experimental measurements. Reasonable spectroscopic factors are extracted from the present calculations.NUCLEAR REACTIONS Nucleon stripping and nucleon pickup induced by 36.0-100.0 MeV $^{10}\mathrm{B}$, $^{13}\mathrm{C}$, $^{16}\mathrm{O}$, $^{18}\mathrm{O}$, and $^{32}\mathrm{S}$ on $^{27}\mathrm{Al}$, $^{28}\mathrm{Si}$, $^{29}\mathrm{Si}$, $^{30}\mathrm{Si}$, and $^{32}\mathrm{S}$; calculated $\ensuremath{\sigma}(\ensuremath{\theta})$. Finite range DWBA calculations, extracted spectroscopic factors.