hey sid_b6505,
You can setup your server on the pc running the ICS server.It wont work if you setup with the other pc on lan which is sharing a internet connection from the server unless you have a router & forward a port to the second pc.
Check the ip address issued by the ISP on your ICS server,
start>run>cmd>ipconfig
No problems even if you have a dynamic IP,there are services such as No-IP which will query & update your IP & map it to the hostname.
Get a ftp server software,configure & host it keeping in mind the security aspect.