If you set your device to USB Debugging mode (in Settings>Applications>Development), and connect your device via usb to your development machine, it should appear as an additional option in Install on device, and selecting it should build the apk and install it on your device in one go.
If you've already built the apk, you can use the Android SDK's adb tool, to install the apk from the command line (which is actually what the studio does behind the scenes)- see http://developer.android.com/guide/developing/tools/adb.html#move for the specifics.
Another option, which should work, is to copy the apk to a web server and download it via an hyperlink.
Regards,
David
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