Well, first off, you need a server which will do packet forwarding for you. If you have that, then an ssh tunnel will work just fine. You could also use Hamachi plus an unencrypted tunnel program. Note that both client and server need to be set up for the tunnel and the packet forwarding.
I don't have a lot of suggestions, except to review certain Security Now episodes which specifically cover tunnelling, VPNs, and Hamachi.