Naruto has some experience. He has experience with senjutsu which made him able to use the senjutsu the sage gave him.
He mastered shape manipulation through rasengan, plus varients and his chakra arms. Which you can say is neccessary to use those black orbs.
And he mastered chakra transfer and chakra control, so that's how he helped guy and that's how he was able to use the tailed beasts' power.
EDIT: Also, he had experience being a perfect Jin of Kurama. But I don't know what's the case with Obito and Madara.