I'm not sure it's what you're thinking of, but you could do something similar with ssh tunneling. Let's say you wanted userA on 10.1.2.3/24 to connect a mysql server on userB's on 192.168.0.3/24. There's no direct network connectivity between the two networks, but both machines can connect to serverA on the public internet.
userB runs this command:
ssh -R localhost:13306:localhost:3306 username@serverA
userA runs this command:
ssh -L 3306:localhost:13306 username@serverA
Now userA can use whatever tool they please to connect to mysql on localhost and the cxn will be tunneled through serverA and to the mysql daemon running on localhost on userB's machine.
(hopefully no typos, typed with one hand as I hold my two day old daughter =))