Most likely you would need to apply for a H1B visa or H2B visa. My understanding is that it would be fairly hard to get someone unskilled to the US from the Philippines. There are certain exemptions like nurses and some other cultural exchanges. People with a lot of money and also people with high skills and education have an easier time getting visas.
In my opinion, if you wanted to bring a housekeeper or nanny, you probably want to contact a lawyer. By the way I am assuming this is for the US.