Here are a couple of options. It looks like most of them reccomend drilling, but I think it's stripped out enough that you would probably be ok without doing it. I just searched for "torx extractor" I know the Lisle one is a good name brand. Not sure about the other one. And since you don't have a drill I would look for something similar with the notches in it, your less likely to need to drill with something like that. Your also going to want to give it a few good hits with a hammer to help seat it deeper in the bolt. And you can use a regular wrench or ratchet to turn them. The big thing is to try and keep it as straight as you can. If you get much of an angle while turning it your likely to have it strip out.

https://www.amazon.com/Lisle-61980-Strip-Screw-Extract/dp/B00RGN571Q/

https://www.amazon.com/Tool-International-Extractor-Adaptors-Anti-Rust/dp/B08NF98TY4/