Go to /etc/avahi/services
and create a file named sftp.service, which contains:
Now, you can see your SFTP server in Nautilus.
This guy has more complete list on what can be broadcast using avah i
$ ssh -N -Duser@CompB
$ sudo apt-get install tsocks
$ rsync --partial --progress --rsh=ssh user@server:/serverpath/to/file /localpath/to/file
$ rsync --partial --progress --rsh='ssh -p7890' user@server:/serverpath/to/file /localpath/to/file