making 2 VMs talk to each other from 2 virtual networks

hi

i have 2 VM - one running AD and DNS

i have 2 cloud services - with one VM in each

the VM that has DNS and DHCP is in 1 cloud service and the other VM in another cloud service.

both cloud services have their different Virtual network

i want to make sure that i can add the VM to the domain running in a different cloud service and virtual network 

i don't want to use VPN (either Point to Site or Site to Site) at all.

is there another way i can connect the 2 VNETs and make the VMs talk to each other?

thanks,