@avp sure!
The examples in the docs are ok to reproduce but here is a minimal reproducer:

(define-module (uploader)
#:use-module (ssh session)
#:use-module (ssh sftp)
#:use-module (ssh auth)
#:use-module (ice-9 streams))

(define session (make-session #:host "vps" #:user "root"))
(connect! session)
(userauth-agent! session)
(define sftp-session (make-sftp-session session))
(disconnect! session)