SCP
Setup OpenSSH server on host system.
Copying files from Guest to Host
$ scp <file> <user>@<host>:
Copying files from Host to Guest.
$ scp <user>@<host>:<file>
Use scp -r for copying directories.
FTP
Setup ftp server (like proftpd) on the host.
Use ftp client from GNU inetutils
$ ftp <host>
Use mget to copy files from host and mput to copy files to the host.
The GNU way - setup an ftp translator
$ settrans -ac ftp/<host> /hurd/ftpfs <username>:<password>@<host>:<path>