Reach Consul UI running on Kubernetes remotely

Question

I was following this tutorial.

In which we configured Consul to run as a headless service and launch the replicas a Stateful Set. Now, the tutorial assumes I'm deploying my application on Minikube but in my case, I'm using a Kubernetes deployment running on two virtual machines with ubuntu.

If I wanted to expose the Consul UI to the outer world, which strategy should I use?

Edit:

Here are the config files for the service and the stateful set.

service.yml

apiVersion: v1
kind: Service
metadata:
  name: consul
  labels:
    name: consul
spec:
  clusterIP: None
  ports:
    - name: http
      port: 8500
      targetPort: 8500
    - name: https
      port: 8443
      targetPort: 8443
    - name: rpc
      port: 8400
      targetPort: 8400
    - name: serflan-tcp
      protocol: "TCP"
      port: 8301
      targetPort: 8301
    - name: serflan-udp
      protocol: "UDP"
      port: 8301
      targetPort: 8301
    - name: serfwan-tcp
      protocol: "TCP"
      port: 8302
      targetPort: 8302
    - name: serfwan-udp
      protocol: "UDP"
      port: 8302
      targetPort: 8302
    - name: server
      port: 8300
      targetPort: 8300
    - name: consuldns
      port: 8600
      targetPort: 8600
  selector:
    app: consul

stateful-set.yml

apiVersion: apps/v1beta1
kind: StatefulSet
metadata:
  name: consul
spec:
  serviceName: consul
  replicas: 3
  template:
    metadata:
      labels:
        app: consul
    spec:
      securityContext:
        fsGroup: 1000
      containers:
        - name: consul
          image: "consul:1.4.0"
          env:
            - name: POD_IP
              valueFrom:
                fieldRef:
                  fieldPath: status.podIP
            - name: GOSSIP_ENCRYPTION_KEY
              valueFrom:
                secretKeyRef:
                  name: consul
                  key: gossip-encryption-key
            - name: NAMESPACE
              valueFrom:
                fieldRef:
                  fieldPath: metadata.namespace
          args:
            - "agent"
            - "-advertise=$(POD_IP)"
            - "-bind=0.0.0.0"
            - "-bootstrap-expect=3"
            - "-retry-join=consul-0.consul.$(NAMESPACE).svc.cluster.local"
            - "-retry-join=consul-1.consul.$(NAMESPACE).svc.cluster.local"
            - "-retry-join=consul-2.consul.$(NAMESPACE).svc.cluster.local"
            - "-client=0.0.0.0"
            - "-config-file=/consul/myconfig/config.json"
            - "-datacenter=dc1"
            - "-data-dir=/consul/data"
            - "-domain=cluster.local"
            - "-encrypt=$(GOSSIP_ENCRYPTION_KEY)"
            - "-server"
            - "-ui"
            - "-disable-host-node-id"
          volumeMounts:
            - name: config
              mountPath: /consul/myconfig
            - name: tls
              mountPath: /etc/tls
          lifecycle:
            preStop:
              exec:
                command:
                - /bin/sh
                - -c
                - consul leave
          ports:
            - containerPort: 8500
              name: ui-port
            - containerPort: 8400
              name: alt-port
            - containerPort: 53
              name: udp-port
            - containerPort: 8443
              name: https-port
            - containerPort: 8080
              name: http-port
            - containerPort: 8301
              name: serflan
            - containerPort: 8302
              name: serfwan
            - containerPort: 8600
              name: consuldns
            - containerPort: 8300
              name: server
      volumes:
        - name: config
          configMap:
            name: consul
        - name: tls
          secret:
            secretName: consul