To begin with, note that if we take \(N = M\) (or more precisely, \(N\) is a copy of \(M\) with only the action of \(H\) retained), then the identity map between \(M\) and \(N\) is supposed to correspond both to a homomorphism \(\Ind^G_H M \to M\) and to a homomorphism \(M \to \Ind^G_H M\text{.}\) Let us write these maps down first: the map \(\Ind^G_H M \to M\) is
\begin{equation*}
\sum_{g \in G} m_g \otimes [g] \mapsto \sum_{g \in G} (m_g)^g\text{,}
\end{equation*}
while the map \(M \to \Ind^G_H M\) is
\begin{equation*}
m \mapsto \sum_i m^{g_i} \otimes [g_i^{-1}]
\end{equation*}
where \(g_i\) runs over a set of left coset representatives of \(H\) in \(G\text{.}\) This second map doesn’t depend on the choice of the representatives; consequently, for \(g \in G\text{,}\) we can use the coset representatives \(gg_i\) instead to see that
\begin{equation*}
m^{g} \mapsto \sum_{i} m^{gg_i} \otimes [g_i^{-1}] = \left( \sum_{i} m^{gg_i} \otimes [(g g_i)^{-1}] \right)[g].
\end{equation*}
This means that we do in fact get a map compatible with the
\(G\)-actions. (Note that the composition of these two maps is not the identity! For more on this point, see the discussion of extended functoriality in
Section 3.3.)
Now let \(N\) be general. Given a homomorphism \(M \to N\) of \(H\)-modules, we get a corresponding homomorphism \(\Ind^G_H M \to \Ind^G_H N\) of \(G\)-modules, which we can then compose with the above map \(M \to \Ind^G_H M\) to get a homomorphism \(M \to \Ind^G_H N\) of \(G\)-modules. We thus get a map
\begin{equation*}
\Hom_H(M,N) \to \Hom_G(M, \Ind^G_H N);
\end{equation*}
to get the map in the other direction, start with a homomorphism \(M \to \Ind^G_H N\text{,}\) identify the target with functions \(\phi\colon G \to N\text{,}\) then compose with the map \(\Ind^G_H N \to N\) taking \(\phi\) to \(\phi(e)\text{.}\)
In the other direction, given a homomorphism \(N \to M\) of \(H\)-modules, we get a corresponding homomorphism \(\Ind^G_H N \to \Ind^G_H M\) of \(G\)-modules, which we can then compose with the above map \(\Ind^G_H M \to M\) to get a homomorphism \(\Ind^G_H N \to M\) of \(G\)-modules. We thus get a map
\begin{equation*}
\Hom_H(N,M) \to \Hom_G(\Ind^G_H N,M);
\end{equation*}
to get the map in the other direction, start with a homomorphism \(\Ind^G_H N \to M\) of \(G\)-modules and evaluate it on \(n \otimes [e]\) to get a homomorphism \(N \to M\) of \(H\)-modules.