This should be possible, but you will need to cobble together the parts and pieces.
First, there is some ESP code out there that makes the ESP look like a Hayes modem. Instead of ATDT<phone number>, you use ATDT<ip address>. I think the project I am remembering is Zimodem on GitHub.
Then you would need to get a "terminal" program running on the RC2014. The terminal program would use one serial port for it's UI and a different serial port for the connection to the ESP WiFi. The terminal program would think it is talking to an OG Hayes modem. RomWBW includes ZMP which should do it, but I will warn you that this is in an experimental state.
Thanks, Wayne