Yes there is: passwordless ssh/scp. Which you need to setup yourself.
Here's a short tutorial on how to accomplish this: Passwordless ssh
And another one here at LQ: Linux Wiki > Passwordless logins
2 things to remember:
1) This needs to be setup both ways if you want to ssh from A into machine B and from there scp from B to A.
2) Do not set this up for the root user, due to security issues!!
Hope this helps.