here's one way to do it:
server1 needs to open a connection to server2.
server2 needs to have a script to handle the incoming request from server1.
server2 should be restricting by ip. This is not foolproof, but at least it is some measure of security.
server1 should open the connection in 1 of 2 ways.
1) use fopen and pass all values to server2 in the url.
i.e. fopen("http://server2url/script.php?var1=foo&var2=bar",'r');
2) open a socket connection and send the data using a post command.
check the manual for examples of fsockopen.