I wouldn't copy binaries between arbitrary systems (specific systems is fine), but copying configs is pretty easy with SSH as-is:

  #!/bin/bash -x
  HOST=$1
  scp -o ControlMaster=auto -o ControlPersist=30 ~/.vimrc $HOST:~/.vimrc
  ssh -o ControlMaster=auto -o ControlPersist=30 $HOST

With the above, you will only create one SSH connection, and you will only authenticate once.