no, and that’s be a pretty bad idea, you’re opening up all your internal hosts to the public internet.
a VPN is specifically designed to keep all your internal hosts off the public internet. When you authenticate with the VPN server the remote device you are using effectively “joins” the internal network, using the VPN to act like a tunnel between you and your network.
it has the benefits of better security as well as the fact that once you set it up, you can access any services you host, not just HTTP ones.