There is no standard service in Windows that lets you do this except PowerShell (available in newer versions) which is a completely closed ecosystem of signed commandlets and twisted idioms. If anyone finds a simple way to invoke PowerShell remotely using Perl they deserve a Nobel Prize.
AFAIK you will need to either find a suitable "server" software package to install on each Windows host, or write your own. Keep in mind that if you want to use anything like this in a production environment you will need a firm understanding of the security challenges involved. How will you handle authorization and authentication in a way that does not expose sensitive information?
Edit: As was pointed out, I read the question a liiittle too fast. :o)
Ye Olde rsh and telnet are to be used only where security issues can be completely ignored. SSH is much better but still only as secure as the weakest endpoint; if someone finds the password or keys they will have the same access as you do.
Time flies when you don't know what you're doing