SQL 2012 :: How To Copy Data From One Table On Remote Server A To B

how to copy a content of a table from one remote server to another,. server A does not see server B (B doesn't see A) - I cannot even ping to one from another.I do have SQL Studio installed on server C, which IT team configured to allow access to both A and B.So what I did so far is to periodically:

1. connect from the studio on server C to server A
2. run the following script on server A: SELECT * FROM A.myTable FOR XML PATH('ROOT')
3. copy the result
4. connect from the studio on server C to server B
5. to write something like

DECLARE @xmlData XML;
SET @xmlData = pasting here my result from item 3 above

6. INSERT INTO
SELECT

ref.value .....
FROM @xmlData.nodes('/myElemnet/ROOT')
xmlData( ref );

so it works. now there is a requirement to schedule this update to run periodically and I need to implement it..