From remote server to local one:

rsync -avzhe ssh remote_user@REMOTE_IP:/remote_folder_or_file /local_destination_folder_or_file

From local server to remote one:

rsync -avzhe ssh local_folder_or_file remote_user@REMOTE_IP:/remote_destination_folder_or_file

That’s it, Enjoy!

Sources:

https://www.tecmint.com/rsync-local-remote-file-synchronization-commands/