How do I set $PATH such that `ssh user@host command` works?

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As grawity said, ~/.bashrc is what you want, since it is sourced by non-interactive non-login shells.

I expect the problem you’re having has to do with the default Ubuntu ~/.bashrc file. It usually starts with something like this:

# If not running interactively, don't do anything
[ -z "$PS1" ] && return

You want to put anything for non-interactive shells before this line.

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