I find the easiest way is to add a remote connection from one to the other. So, go to the second server and do:
sp_addlinkedserver SE1
Then you can go to the database you want to use and do something like:
insert into database.dbo.Table1(<column list>)
select <column list>
from SE1.database.dbo.Table1
where col like '%HR%';
This uses the four-part naming convention to access the remove table.
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