I would do as Roff suggest using the ULN2803A to drive the relays. It is designed to do exactly what you want to do from a single chip. However, if you want to go the discreet component route and use transistors the circuit would look like below attached image.
Your relays will draw about 73 mA so any number of NPN transistors will work well. I used a 1 K Ohm resistor on the base. I also used a 2N2222 and placed a 1N4002 diode across the relay coil. It gives you a picture if that helps.
Again, I like the ULN2803A as a first choice.
Ron