How about writing a lil' proglet that sits on the System Tray and listens to port xxxxx... When you connect with it, it authenticates you (I hope!!), and awaits your requests... Program it to accept requests to *send file *recieve file *ShellExecute *anything else you need.
To use it, just connect (any way you like), authenticate (challenge-response), and command it...
This program should be just a hair over trivial... (although you might have some ShellExecute "macros" so you don't have to type the whole command lines...)
EDIT: Don't forget to open a port for it