These are the ports I had to open up on the firewall to enable direct access from the Internet to VMs on a specific host via vCenter Server:
Opened up ports (TCP) 903, 427, 5989, 22 and ports (UDP) 427 to the vCenter Server
Opened up port (TCP) 902 and port (UDP) 902 to the Host
Let me first say that this is not the SECURE solution. It is just for testing. A safer solution would be to VPN into the LAN, then connect to the vCenter Server directly.
Secondly, this enables access only to a specific host. It does not solve the issue if you have to connect to VM's on multiple host via vCenter Server and directly from the Internet.