(but that will require a static IP address from your Telco at around $10 per month).
Or just use a free Dynamic DNS service like https://freedns.afraid.org/menu/
I have been using this service for a few years now to remotely access my Foscam and its worked well.
Dynamic IP Addresses
DDNS is a service that allows your IP Camera, especially when assigned with a dynamic IP address,
to have a fixed host and domain name. This means that even though your WAN IP address is
constantly changing, you will have a fixed hostname you can use to access your cameras at all times.
You can access the camera directly from the Internet using the hostname and port number.