The only way I can think of is setting up a VPN. Everything else is going to require a program to be installed on the PC. Most versions of windows will allow you to setup a VPN server.... and then android can connect via VPN.
There are different instructions for setting up VPNs on each version of windows so you'll want to look up the directions for your particular version and have some understanding of how to set it up.
There is built-in VPN access in Android, or you can install a 3rd party VPN app from the market.