Is there anyway to set up a web server behind a router, and make it public without port forwarding?

Specifically, I want to achieve the following, but am not sure if its possible:I have PC1 which will run the web server, and is behind a router (no port fowarding allowed). I want to access the server from PC2 which is also behind a router. I also have a machine in the cloud which can be configured however I want. Is there anyway to set up a connection between PC1 and PC2 by routing through the cloud machine? Both PC1 and PC2 can open outgoing connections, of course.The end goal is to stream video files from PC1 to PC2 without having to set up port forwarding. Thanks.

Submitted November 21, 2016 at 11:21PM by Probotect0r