Is it possible to have RTCPeerConnection directly with ip:port using custom signalling?

I'm aware of ICE with STUN and TURN but they looks a little bit overhead to me. I want to connect two peer with custom signalling system like SocketIO or WebSocket that means I'll manually share ip:port and token with the other client. Also I'm planning to use custom authentication middleware to secure client peers' ip:port info. On the other hand, TURN is relay server and I just want connection pairing like STUN's.

Now, is it possible to connect to remote RTCPeerConnection with knowing ip:port of the other side? Is WebRTC on ICE with STUN/TURN is a constraint? I have to implement data stream top of UDP without TCP (also no relay server, just ip:port pairing).

Any suggestions or documentation papers about this topic please?

via MFatihMAR