This will probably not help you, because it's not "simple", per sé, but...
Have you installed the ssh packages (server and client)? If you've done that, you can then use scp to copy files to/from the zaurus. This is assuming you've set up USB networking on your desktop.
If your desktop is Windows, there's a nice, free scp client called WinSCP. Check download.com.
R.
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