How would an earth-like planet with a habitable moon work and how to get there?

I have a planet approximately 3.5 times the mass of the Earth. I have a moon orbiting that planet that has to be habitable as well, because my story will take place on the first expedition to this moon. What size would my moon have to be it sustain life? The reason I ask is because a body the size of our current moon doesn't have enough gravity. If I end up having to move the size of my planet up I can go up to max of 5.5 times the mass of the Earth. What tech level would be required for these 'people' to escape the gravitational pull of their exceedingly large planet?

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How would an earth-like planet with a habitable moon work and how to get there?

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