I'll point out that Ansible can do this just fine. Assuming you've got a non-root user set up in your node list file...

ansible [server] --sudo -m copy -a "src=filename dest=filename"

Other parts of Ansible might not be great (specifically, fully automated datacenter orchestration isn't possible without writing your own tools on top of Ansible; I use Salt for that), but it's really good for ad-hoc management without having to put additional infrastructure or daemons in place.