Connect i.MX6 to Ethernet, if you are using WiFi, you can share the connection with your Mac as shown in the picture below:
Go to your CootTerm, or whatever you use to connect Serial to USB:
root@imx6qsabrelite:~# ifconfig
eth0 Link encap:Ethernet HWaddr 1e:ed:19:27:1a:b3
inet addr:192.168.2.2 Bcast:192.168.2.255 Mask:255.255.255.0
Now open Terminal and you can
$ ssh root@192.168.2.2