The simplest way to do this (using NetBIOS) is to open the remote machine and schedule a task by opening the Scheduled Tasks folder (you must have remote registry enabled for this). The other simplest way is to use the 'psexec' tool from sysinternals or something similar.

http://www.sysinternals.com/ntw2k/freeware/psexec.shtml

-Maestr0