Inner Join or what else?
Yes, shouldn't be too difficult, try:

SELECT a.ID, a.ID_Fruit,,, so on b.ID, b.ID_Fruit, b.ID_Crate, b.[DateTime]
FROM TABLEA a
INNER JOIN TABLEB b ON a.ID_Fruit = b.ID_Fruit
INNER JOIN (SELECT ID_Fruit, MAX([DateTime]) FROM TABLEB GROUP BY ID_FRUIT) maxtime 
      ON b.[DateTime] = maxtime.[DateTime]


Its not quite clear if you mean that it should be the most recent, but I have assumed that is what you mean.