In the end of the day web service description is just an XML file. You can grab it by requesting service.asmx?WSDL:
HttpWebRequest request = (HttpWebRequest)WebRequest.Create("http://localhost:1753/Service1.asmx?WSDL");
HttpWebResponse response = (HttpWebResponse)request.GetResponse();
StreamReader reader = new StreamReader(response.GetResponseStream(), Encoding.UTF8);
string xml = reader.ReadToEnd();
Once you have service description you can parse it and check method signature. Then, you can invoke the method using HTTP POST:
HttpWebRequest request = (HttpWebRequest)WebRequest.Create("http://localhost:1753/Service1.asmx?HelloWorld");
request.Method = "POST";
request.ContentType = "application/soap+xml; charset=utf-8";
byte[] data = Encoding.UTF8.GetBytes(
@"<?xml version='1.0' encoding='utf-8'?>
<soap12:Envelope xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:soap12='http://www.w3.org/2003/05/soap-envelope'>
<soap12:Body>
<HelloWorld xmlns='http://tempuri.org/' />
</soap12:Body>
</soap12:Envelope>");
request.ContentLength = data.Length;
Stream requestStream = request.GetRequestStream();
requestStream.Write(data, 0, data.Length);
requestStream.Close();
HttpWebResponse response = (HttpWebResponse)request.GetResponse();
StreamReader reader = new StreamReader(response.GetResponseStream(), Encoding.UTF8);
string xml = reader.ReadToEnd();