define 'access a server' ?
you can do nexec and open a bash or cmd session. telnet is pretty insecure - why would you want to run that on your servers ?
I was thinking of ssh. The access would be as if you were logging in outside of BSA as any admin normally would via RDP or ssh session for unix. I wasn't sure you could do this sort function from within BSA.
You can tunnel rdp through nsh, or you can use nsh instead of ssh.