You have many options.
If you don't need to transfer large amounts in a short time, the "FISH" protocol can be handy.
On one machine, enable the SSH daemon (use vasm). On the other, first connect to the other from a terminal:
"ssh root@IP_ADDRESS" It will ask you to verify by typing "yes".
Next, use Konqueror on the same machine, type "fish://root@IP_ADDRESS" in the address bar and hit enter.