Hi puta,
It really depends on what programming languages you're familiar with, after all, Raspberry Pi's are just running ARM linux. Do you want to provide a telnet like server, with custom commands to read some statuses? Or do you want to provide actual shell command line access?
If the former, the easiest would be to just use python or javascript.
For example, if you're familiar with javascript load nodejs on the pi, create a project and use an npm dependency 'telnet' (
https://www.npmjs.com/package/telnet), which lets you create a server that implements the Telnet protocol.
You can then use a callback function to listen for commands that the client sends, and respond accordingly.