HFV explorer is the one I remember, I don't think it let you connect to appletalk networks.
I'll be honest, I don't remember a Windows tool that let you connect to AppleShare volumes, ASIP5/6 could host SMB and in general the expectation for cross-platform compatibility was usually that the Macs would adapt to the Windows environment.
Windows Server had Mac file services and even the AppleTalk network protocol built in until 2003 or 2003R2 (I actually need to test this) but it was a separate thing to configure. (Though: it respected NTFS permissions, so you'd set up your shares on both sides and the
real permissions would be in the NTFS folder structure, so it wasn't
that much work to set up and run.)
Also, will HFS Explorer work with non+ HFS volumes as well?
The web page says it will.