Well, just like any other IP device, you could always port forward through your router (I assume you know how to do that, and are using it now w/ your webcam).
Or you could establish a VPN client back to your own VPN server either running on your router or some desktop/laptop behind it. The advantage here is that you’re using an IP address on your local LAN, and so ALL your local IP devices are accessible, and in a secure fashion. You can even use it as a proxy for open wifi situations. It’s just a LOT easier to manage one VPN port on the router, rather than managing individual ports for each and every device you need access to. You also avoid complexities w/ some protocols that don't handle firewalls very well (e.g., FTP).