Forwarding packets from Eth0 to Eth1

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I have a machine with two ethernet cards eth0 (10.0.1.1/24) and eth1 (10.0.2.1/24).  I want a host on the 10.0.1.0 network like 10.0.1.5 to be able to telnet or ftp or access a fileshare on the 10.0.2.0 network like at host 10.0.2.3.   What iptables do I need to set up so that hosts on the two networks can talk to each other across the machine with eth0 and eth1.   What sort of routing do I need to set up on that machine.  I can get NAT to work, but some of the transfers are video, and NAT kills them.  I need to just forward the packets. Thanks.