You can use zssh (zmodem as an application for ssh).
But if you are only trying to avoid the ssh request for the password again, just put the client host public key (generated ssh-keygen run once) on the ~ / .ssh / authorized_keys servers
from "apt-cache show zssh":
Description: interactive file transfers over ssh
zssh (Zmodem SSH) is a program for interactively transferring files to a
remote machine while using the secure shell (ssh). It is intended to
be a convenient alternative to scp, allowing to transfer files without
having to open another session and re-authenticate oneself.
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