I know that I could look through the IMDB episode list or the Wikipedia pages, but those contain a lot of spoilers that I would prefer to avoid, so please also avoid spoilers in your answers.
Yes, there have been appearances of the Doctor in The Sarah Jane Adventures:
The Doctor has not (so far) made any appearance in Torchwood, although characters from Torchwood have appeared in Doctor Who:
The 10th Doctor's companion, Martha Jones, has appeared in Torchwood in Reset, Dead Man Walking, and A Day in the Death. The TARDIS also appeared in End of Days, and the Doctor may have been inside (but he never appeared on screen).
The Doctor's severed hand (from The Christmas Invasion) was found by Captain Jack and appeared in several Torchwood episodes, from the first (Everything Changes) until it was taken by the Master in Utopia.
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