Easy way to do port translation to bypass our own firewall

so I have 0% experience with web programming, and the project I am working on doesn't have anything to do with it, but I hit a small roadblock and need to solve a small port problem.

So we want to build a cluster of GPU machines on Azure for some Deep Learning calculations, and want to install some applications on them and let our scientists use the app' GUIs to launch and monitor their jobs. The problem is that an app A for example runs on port 5050, but our firewall doesn't let us communicate to unusual ports. The problem is easy to fix from the Azure side, but our IT team won't let us modify our security policies.

That's why I need to find a hacky and fast solution to overcome this, I don't want to spend my whole internship doing something complicated for it, just something that does the job.

What I thought about was to have some kind of server running on the machines (let's say Machine A has public IP address ipbA and private IP ipvA) that when we type "http://ipba/app1" on our browser, the server on A will fetch the page "http://ipva:5050" (or "----://ipba/app2" -> "----://ipva:5051") and display it, but does this work if the page needs to be interactive because we would like to launch jobs?

I have no clue how to do this, if you could please just tell me what I should look into, google and read about, or if there is an easier way to handle it, (maybe some VPN stuff, which I don't prefer since we're moving towards a hybrid cloud architecture and I don't think we would want to VPN into all the different cloud platforms) that would be awesome :)