static (inside,outside) tcp 10.55.1.141 1415 172.16.2.95 1415 netmask 255.255.255.255 0 0
This statement is useful when you want to map single public IP with different private IPs on different tcp/udp ports.
Like you can say another statement--
static (inside,outside) tcp 10.55.1.141 80 172.16.2.96 80 netmask 255.255.255.255 0 0
So same public IP 10.55.1.141 port 80 is mapped to some other private IP 172.16.2.96.
But when you put statement like -
static (inside,outside) tcp 10.55.1.141 172.16.2.95 netmask 255.255.255.255 0 0
Then this public IP will be mapped to single private IP only.
In both the cases you have to open with access-list but the main difference is - you can save lot of public IPs by first method.