We demonstrate the generation of soliton and dissipative soliton in an ultrafast thulium (Tm) doped fiber laser based upon cross-phase modulation (XPM) induced mode-locking. The mode-locking is realized by periodically modulating the 2-µm signal through XPM that is activated by an injected 1.5-µm pulsed laser. Such a mechanism enables the laser to be mode-locked in various operation regimes without any real or artificial saturable absorbers. Thanks to the XPM pulling effect, the wavelength of the Tm-doped fiber laser can be tuned by adjusting the repetition frequency of the 1.5-µm pulsed laser. The maximum tuning ranges achieved in this work for the soliton and dissipative soliton regimes are respectively 11 nm and 15 nm. The outcomes of this work not only provide a continuously and controllably wavelength-tunable ultrafast laser but also offer a passively synchronized dual-color fiber laser system, which is promised for many important applications such as Raman spectroscopy, nonlinear frequency conversion systems, and multi-color pump-probe systems.