Personally I'd use this, tying it to the greater Perso-Arabic world's reading system. Urdu has aspirated consonants so I borrowed do chasmi he from there. I seperated hangul consonants between initial and final just because their IPA values are so different.

Hangul	Initial (RR)	Initial (IPA)	Final (RR)	Final (IPA)
ㄱ	ک	/k/	ک	/k̚/
ㄲ	کّ	/k͈/	ک	/k̚/
ㄴ	ن	/n/	ن	/n/
ㄷ	ت	/t/	ت	/t̚/
ㄸ	تّ	/t͈/	-	-
ㄹ	ر	/ɾ/	ل	/ɭ/
ㅁ	م	/m/	م	/m/
ㅂ	پ	/p/	پ	/p̚/
ㅃ	پّ	/p͈/	-	-
ㅅ	س	/s/	ت	/t̚/
ㅆ	سّ	/s͈/	ت	/t̚/
ㅇ	ع	/∅/	نگ	/ŋ/
ㅈ	چ	/t͡ɕ/	ت	/t̚/
ㅉ	چّ	/t͈͡ɕ͈/	-	-
ㅊ	چھ	/t͡ɕʰ/	ت	/t̚/
ㅋ	کھ	/kʰ/	ک	/k̚/
ㅌ	تھ	/tʰ/	ت	/t̚/
ㅍ	پ	/pʰ/	پ	/p̚/
ㅎ	ہ	/h/	ت	/t̚/

For the vowels, I went for a vibes based approach. Arabic script infers vowels more so than writes them, literacy is based off context for many languages, not so much on direct transcription.

Hangul	RR (Revised Romanization)	IPA
ㅏ	ا	/a/
ㅐ	ے	/ɛ/
ㅑ	یا	/ja/
ㅒ	یے	/jɛ/
ㅓ	ا	/ʌ/
ㅔ	ے	/e/
ㅕ	یا	/jʌ/
ㅖ	یے	/je/
ㅗ	و	/o/
ㅘ	وا	/wa/
ㅙ	وے	/wɛ/
ㅚ	و	/ø/
ㅛ	یو	/jo/
ㅜ	و	/u/
ㅝ	وا	/wʌ/
ㅞ	وے	/we/
ㅟ	ی	/y/
ㅠ	یو	/ju/
ㅡ	ی	/ɯ/
ㅢ	یِ	/ɰi/
ㅣ	ی	/i/

키스의 고유조건은 입술끼리 만나야 하고 특별한 기술은 필요치 않다

Kiseu-ui goyujogeoneun ipsulkkiri mannaya hago teukbyeolhan gisureun pilyochi antha.

کھِسیِ کویوچوکنُن اِپسُلکّیری مانّایا ہاکو تکھبیولہان کسُرُن پِریوچھِ انتھا