I looked here:
apropos appletalk
appleping(1) - exercises the AppleTalk network by sending packets to a named host
appletalk(8) - enables you to configure and display AppleTalk network interfaces
appletalk.cfg(5)
at_cho_prn(8) - allows you to choose a default printer on the AppleTalk internet
atlookup(1) - looks up network-visible entities (NVEs) registered on the AppleTalk network system
atprint(1) - transfer data to a printer using AppleTalk protocols
atstatus(1) - displays status information from an AppleTalk device
ssh is secure shell
supports a telnet-like communication using a variety of encryption algorithms.
basically if you don't mind that some third party can possibly see and capture your personal password when you log in to your machine. you can use standard telnet and ftp.
if you do mind....
you should use ssh.
and sftp.
http://www.rbrowser.com
for a GUI client to both and more.
it seems a worthwhile project to write a command line appletalk client.
you can activate/disable the server by the command line
and you can transfer ps files to a laserwriter.
it would look like an ftp client except it should know how to copy resources....
at this moment, it is easier to set up an ftp server on a mac and reach that through the command line
Last I looked, Net preZence was working
or you could just move the file you want to transfer into the httpd directory and turn personal websharing on.
otherwise, the finder is the best GUI program for that.
See Inside Appletalk. the api is available.