Not sure if @aleperez has a Basic or QBasic… here’s a short DEBUG script to pipe in from the big machine, which builds a uudecode program:
http://web.archive.org/web/19981207024119/http://oak.oakland.edu/pub/simtelnet/msdos/00_start/uudecode.dbg
Then you can copy over something like Kermit, having uuencoded it to make it printable.
Edit: see also xxdecode.txt in this kit of useful things:
http://oak.oakland.edu/simtel.net/msdos/00_start.html
via this 1999 usenet posting
Edit 2: see also NETRUN which converts an executable into an executable which uses only printable ASCII.
Edit 3: See also this discussion on a C compiler which produces executables formed only of printable characters. In that discussion several other conversion tools are named.
Edit 4: For completeness, there’s another method or two linked from the page @RichardP posted.
Edit 5: also see this stackexchange Q&A.