Yes. You need to know the IP address of the router / computer, i.e. as seen
from the internet,
(not the LAN address e.g. 192.168.1.11 as Jono suggested). Your
correspondent will need to have working SIP
device (softphone running), and with correct forwarded ports.
If you correspondent hasn't got a static IP, you will need to obtain it
every time before making the call

When dialling use * instead of . and usually prefix and finish with # (this
may differ with your equipment).
Thus for 123.45.78.90 you dial #123*45*78*90#
Please note that softphones provided by Finarea - Voipbuster etc. as yet
don't accept incoming calls, and when they do they may not work by IP number
(?).
HTH
Regards,
Martin