No, your WinXP machine could not remote control the Win2K box without VNC. You would need to install the VNC viewer on your XP machine and the VNC server on the 2K box to accomplish your goal.
The problem you are facing is that Win2K Pro is not an RDP server like XP, 2K Server and 2K3 Server. Note also that XP and 2K3 are both RDP5 Servers while 2k is an RDP4 server. That si why XP and 2K3 can redirect local drives and printers and 2K can not.
I hope you find this post helpful. Please let me know if it was.
Regards,
Mark