I don't think a formal meeting would've been necessary.
As Voyager would be ready to depart from the station on their mission, no doubt the person overseeing ops at the time (Kyra?) would be clearing them. And as Sisko would be aware of any Federation starships coming and going, he could have just done a "Good bye and good luck" call to Janeway as Voyager prepared to leave on their pursuit of the Maquis. It would've taken 15~20 seconds of screen time. And it would've been a nice "joining of series."
As Voyager would be ready to depart from the station on their mission, no doubt the person overseeing ops at the time (Kyra?) would be clearing them. And as Sisko would be aware of any Federation starships coming and going, he could have just done a "Good bye and good luck" call to Janeway as Voyager prepared to leave on their pursuit of the Maquis. It would've taken 15~20 seconds of screen time. And it would've been a nice "joining of series."