Ssh from one computer to another

Hi, I’m very new to networking. I have two computer neither of which is wifi enabled. One computer is running Ubuntu 18.04 and the other is windows 10. I have two gl.inet ar150 mini routers. I’d like to ssh into my Ubuntu computer from my windows one using these routers. Is that possible? If so what are the steps?

Does the two PC are located in different location? If yes, you can set up on as WireGuard Server, and another acts as WireGuard Client. When the connection is established, there is no additional configuration is required, you can access the Server’s LAN by default.