There is an old DoS program called 'Zip' which does exactly that.
It was put out by Eric Meyer back in the eighties i think.
It came out before the 'Zip' compression program, WinZip.
At about 50 Kilobytes its quite small,
and has the interesting feature of being able to access the 'other'
PC and install itself upon it, which can be very useful if the
'other' PC is maybe a laptop with no CD unit, or a damaged floppy
which seems very common on laptops. Before i found this utility i
was putting programs on to 'in-accessible' laptops using their
internet connection, but that only worked for a few!
I find this old DoS program very fast using the parallel port.
I still use it, in preference to intersvr and DCC.
Regards, John