You can use the PLink Tunnel action to create a secure tunnel, then use the Telnet action to issue commands on the remote computer:
http://www.visualbuild.com/Manual/networksample.htm
If VBP is installed on the remote computer(s), you can invoke the console app from a Telnet action to build a project on the remote computer:
http://www.visualbuild.com/Manual/consoleapp.htm
You can chain to multiple levels (tunnel to server B, and from server A's build project tunnel to server C, etc.) if needed.