OK, here's the deal:

I have a computer (specifically, a MacBook Pro) that is connected to a standard network that is then connected to the big nasty internet. Let's call it foo. It runs a web server on 8084, and so if you were on its local network you could get to this with http://foo:8084/, or http://192.168.1.2:8084/, or whatever.

From foo I can VPN into my companies intranet and see a computer on the local company network called bar (another MacBook Pro, incidentally).

Is there any way to set this up so that while foo is on the VPN bar can access http://foo:8084/ (or http://x.x.x.x:8084/, or whatever)?

(From my limited understanding of how VPNs work I have a sneaking suspicion the answer is no, but it doesn't hurt to ask...)