It would be helpful to know what OS's (and distros, if applicable) you are using. What is UFW? Unless you are traversing a firewall, port forwarding is not required.
The basic ingredients you will need are a ssh server and ssh client. On Linux, these are almost certainly installed by default. The ssh server may need to be started. On many systems, you can do this with a command like (as root):
/sbin/service sshd start
That should start the server. You can test this on the server host by doing
Then, from a client host:
Substitute the IP of the ssh server, as appropriate. You can also use a named IP if your client knows the name or it is in a reachable DNS server.
It may be useful to you to use X tunneling to the ssh server host, so you can easily run X applications on the ssh server host, and get the display on your ssh client/X-server host.