you can access resources from within WEB-INF folder just using /WEB-INF/test.xml from within your application (jsp - servlet).
<!%@ taglib uri="/WEB-INF/tiles-jsp.tld" prefix="tiles" %>
If you want to make it available to a web user then it CANNOT be accessed directly. For a user to access it directly, there must be some sort of interface that will expose the file from the WEB-INF folder (ex. jsp that reads the file  /WEB-INF/test.xml and output's it to the jsp/servlet)
UPDATE
To read a file using a Servlet use this:
protected void processRequest(HttpServletRequest request, HttpServletResponse response)
        throws ServletException, IOException {
    response.setContentType("text/html;charset=UTF-8");
    StringBuffer strContent = new StringBuffer("");
    int ch;
    PrintWriter out = response.getWriter();
    try {
        String path = getServletContext().getRealPath("/WEB-INF/newfile.xml");
        File file = new File(path);
        FileInputStream fin = null;
        try {
            fin = new FileInputStream(file);
            while ((ch = fin.read()) != -1) {
                strContent.append((char) ch);
            }
            fin.close();
        } catch (FileNotFoundException e) {
            System.out.println("File " + file.getAbsolutePath()
                    + " could not found");
        } catch (IOException ioe) {
            System.out.println("Exception while reading the file" + ioe);
        }
        System.out.println("File contents :");
        System.out.println(strContent);
    } finally {
        out.close();
    }
}
This will read a file named newfile.xml from WEB-INF and will output its contents to the console. The output will be something like:
File contents :
< a >
< b >xxxx< /b >
< /a >