. Agent server likes vpn, you can use agent client and server as vpn like connection.
. Start agent server on forwarder on B network, start agent listener on A network. After make connection, A network can access B network anywhere. But provide that you should have a user right to access that server service.
. If there is no public ip on both side, computer 1 in local network A and computer 2 in local network B, by connecting listener and forwarder to public IP, then computer 1 AND computer 2 connected.
. You can issue any request from computer 1 to computer 2.