You can do it through motocast but you have to install motocast on the PC you want to share files with. Also there are many apps for viewing and using your home PC through the market.
I found setting up MotoCast to be very easy and it works well. All my pictures, videos, music and documents are accessible from my Razr. Using Quick Office I can open and edit them too.
What everyone else said Motocast for the win. As long as you have a UPNP router which almost everyone does you've got a flawless victory. More than one machine can be added as well for your own personal cloud.