If you use windows, you can just use ftp (start -> run -> ftp). It's easy to use, but you'll have to work with console commands. If you don't like that, here's a simple way to do it: open two windows explorers. With one of them, browse your own computer. In the other one, type ftp://<ip address of your goal> and you'll see the other computer just like your own. Then you can browse the goal computer with the windows explorer, delete things, and so on. To download or upload things, you can drag & drop them between the windows explorers.
If you use linux, I recommend ncftp, that's a nice program
