Thanks to Key we have udptunnel:
Title: udptunnel.tce
Description: Tunnel UDP packets over a TCP connection
Version: 1.1
Author: Jonathan Lennox
Original-site: http://www1.cs.columbia.edu/~lennox/udptunnel/
Copying-policy: BSD
Size: 4.8k
Extension_by: Key
Comments: UDPTunnel is a small program which can tunnel UDP packets bi-directionally
over a TCP connection. Its primary purpose (and original motivation) is
to allow multi-media conferences to traverse a firewall which allows only
outgoing TCP connections.
Title: udptunnel.tcz
Description: Tunnel UDP packets over a TCP connection
Version: 1.1
Author: Jonathan Lennox
Original-site: http://www1.cs.columbia.edu/~lennox/udptunnel/
Copying-policy: BSD
Size: 362k
Extension_by: Key
Comments: UDPTunnel is a small program which can tunnel UDP packets bi-directionally
over a TCP connection. Its primary purpose (and original motivation) is
to allow multi-media conferences to traverse a firewall which allows only
outgoing TCP connections.