On the 95 box select a folder that you want to share (for example, I put a folder named "temp" in the root of the C drive on all of my comps) right click on it, go to Properties, then the Sharing tab. If you don't have a sharing tab... you may be out of luck doing it that way. It's been so long since I used 95 that I couldn't tell you.
Anyway, if the sharing tab is there select "Share this folder" under it and hit Ok. While you're there get the IP address of the 95 box (Start>Run, enter "cmd", then enter "ipconfig"... works in 95, IIRC)
Now go to the XP box and open up explorer. Go to Tools>Map Network Drive.
In the Folder box enter: \\<the IP of the 95 box>\<the name of the folder you shared>
And that should be it.