Use Cloudflare to secure connect remote employees to azure Cloud server

Good day everyone,
Can anybody advise me if it is possible to create a secured public tunnel that could be accessible by a controlled limited number of remote workers to directly and securely connect them to an Azure instance in a Microsoft Data Center ? Generally I would use an MPLS link to the office and from the Datacenter use Megaports (Level3) to interconnect to the Microsoft Data Center, however this is not possible as people are working remotely. We work on proprietary medical related apps and we need to completely isolate the Azure instance from the public Internet but want to enforce a 2FA (Usign Yubikey) VPN ish connexion from the users to the cloud instance. Looking for suggestions or solutions.

many thanks

Chris Laf.

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