Net::SSH::Perl and SSH or OpenSSH, or maybe just log in as the target user directly:
open my $remote, '| ssh otheruser@remotehost'
or die "Couldn't connect: $!";
print {$remote} "echo Test\n";
But that way, you don't get much interactivity and this only works if you have passwordless keys set up or store the key in pageant or another ssh keyring.
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