Think of the servers like a phone that can only make outbound calls. No one can call in, but you can call out. The two servers can't talk to each other without help from a third server that can take incoming calls. That said, where can you get a third server on the internet to connect the two outbound PC's?
https://portmap.io/ provides a free solution to allow a server behind a firewall or NAT to have one port accessible from the internet. This requires the server to maintain an openVPN connection to portmap.io
Continuing with the phone analogy, you make a connection to portmap.io, they give you your own domain (and port), and you can get incoming calls as long you stay connected. From the internet, portmap.io takes an incoming connection on your domain/port, and forwards the audio/data to your extension if you're connected.
You need to be aware of the security and privacy implications of this solution before implementing it. Good luck!