Canada Post in a tube for most inexpensive posters. There is a small premium (about $1.50) for a tube.
If the poster is very large, vintage or valuable, you may prefer to use a courier. The big problem Canadian buyers have with UPS et al is that they must charge Canadian import fees on items valued over $20CDN (about $16USD).
This is not a problem for selling into the USA, since Americans have a $800USD (~$1000CDN) duty free allowance.