Port forwarded access to esxi hosts

Short Version: Is there a way to access an esxi host via port forwarding?

Long Version: We have 3 virtual hosts, I would like to be able to run vsphere from my laptop and connect to these virtual hosts when off site without having to open an RDP connection to an internal machine and then a vsphere connection from there. I already have off site port forwarded access to the vm's on the vhosts but if I want to access the vsphere console I have to do it from a machine inside the site.