NetBEUI? Yuck!
95 has a TCP/IP protocol bundled. Make sure that's added to the NIC, and then either see if you can't get them to work via DHCP autoconfig (where they have some random IP out of 169.254.0.0/16) or else make 95 192.168.1.1 and XP 192.168.1.2 with a netmask of 255.255.255.0
Try doing a "ping computername" for the opposing machines from a command prompt on each to see if they are communicating.