The setup I'm using at the moment is...
In hell: BC pump connected to a pipe (BC waterproof gold pipe, at first, now liquiduct), which is connected on one end to a liquid transposer, and on the other to a magmatic engine which feeds power to both the transposer and pump. A pair of ender chests there, one for lava cans on the side of the transposer, and one connected via wood BC pipe + autarchic gate to a hopper which feeds empty cans into the transposer. (Redstone engine works just as well as the gate, gate just looks cleaner.)
On Earth: Transpsoser set to extract lava from cans. Input side has the same chest->pipe->hopper setup as in hell, keyed to the ender chest that holds the filled lava cans. On the item output side, put down the other ender chest, which will take the emptied cans back to hell to be refilled. Place waterproof pipes or liquiducts on the liquid output end, and feed your engines, generators, extruders, and all else that can run on lava.
Though, I think I could improve it to using just a single pair of ender chests, utilizing Red Power filters, keyed to remove, on the hell end, empty cans, and on the Earth end, filled lava cans. You'd need a pair of timers, but those are far, far cheaper than another pair of ender chests...I'll have to experiment with that.
[ETA]
Also, do note that both sides will need a jump-start from another BC engine, I'd suggest bringing a Stirling engine, lever, and something easy to get, like saplings or sticks. They don't need much to get started, just enough to get the fluids flowing.