How to play a PCM stream (over UDP) in a javascript web client?

I am writing a javascript web client, and I want to play audio that encoded as PCM from a UDP stream (raw RTP) in my client (I can change the destination host and port of the stream freely). How can it be done?

I read about Howler and I couldn't find any UDP listening option or PCM support. I also looked about WebRTC but it doesn't seem to support PCM (if I got it correctly).

Thanks a lot!