By radio, very slowly. A space probe like Voyage has a radio transmitter that emits a fairly narrow beam, sort of like a laser but for radio waves. This beam is pointed at Earth, where a large receiving dish picks up the signal. Each bit is transmitted for a longer period of time to ensure that the faint signal is picked up clearly; Voyager has a bitrate of ~160 bits/sec. Aside from the scales involved, its the same technology as your car radio.
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