The best way I can think of to accomplish this is via sp_addlinkedserver. You need to make sure that whatever account you use to add the link (via sp_addlinkedsrvlogin) has permissions to the table you're joining, but then once the link is established, you can call the server by name, i.e.:
SELECT *
FROM server1table
INNER JOIN server2.database.dbo.server2table ON .....