Yes, with a small change to the configuration file, Tomcat Manager can be accessed from a remote machine. For context, connections to Tomcat Manager are restricted to local access only, by default. This means that unless you are on the same machine as the application, you'll see a permissions-related error when attempting to connect.
To enable remote access
In the editor of your choice, edit the file context.xml. By default, this file should be located in a location similar to /usr/share/tomcat8/webapps/manager/META-INF
Modify the RemoteAddrValve section, either by commenting out the section or by adding a single or range of IP addresses.