B. Mann Consulting

Launch Terminal. Select File -> Connect to Server... (or Command-Shift-K). Click on the plus sign at right with SSH selected on the left. Fill in server FQDN or IP address and user name if desired.

Double-click on your server name to launch a new Terminal window and voila! you're connected to your remote machine. If you save this as a Terminal shortcut (.term file), you can double-click on it to connect to the remote server. I've got a bunch of shortcuts that I've pasted custom icons on, then added as document shortcuts to my Dock.

If I need to connect to a server while I've got a Terminal window already open, I can quickly hit Command-Shift-K and select from my list of servers.