I don’t know what API you’re using to handle ESL connections, but in general all you need to do is to send an execute command with sendmsg:
sendmsg <uuid>
call-command: execute
execute-app-name: speak
execute-app-arg: flite|kal|Hello world
The method Hector suggests is good if you are doing a raw outbound event socket connection. I'd recommend using ESL and the programming language of your choice to help abstract away some of the unnecessary details.
Also, if for some reason you need to execute the command on an arbitrary UUID then you can use uuid_broadcast. From fs_cli you can test it: