Is there a way to download through telnet

The easiest way is if you can run binaries on the machine, so set up a simple ftp server or something. If you can't do that, perhaps a combination of tar/gz to get one file, and then you can netcat it across? As a last restore, uuencode and cat could be used.

Using netcat ? If you have numerous files, I suggest to tarball them.

On the server side (using telnet port):

$netcat -l -p 23 < my_file.tar

On the client side:

$netcat machine_name 23 > my_file.tar

Netcat tool may exist named as "netcat" or "nc", check that out on your server machine.