croc is a tool that allows any two computers to simply and securely transfer files and folders. AFAIK, croc is the only CLI file-transfer tool that does all of the following:

• allows any two computers to transfer data (using a relay)
• provides end-to-end encryption (using PAKE)
• enables easy cross-platform transfers (Windows, Linux, Mac)
• allows multiple file transfers
• allows resuming transfers that are interrupted
• local server or port-forwarding not needed
• ipv6-first with ipv4 fallback