What you are looking for are Linked Servers. You can get to them in SSMS from the following location in the tree of the Object Explorer:
Server Objects-->Linked Servers
or you can use sp_addlinkedserver.
You only have to set up one. Once you have that, you can call a table on the other server like so:
select
*
from
LocalTable,
[OtherServerName].[OtherDB].[dbo].[OtherTable]
Note that the owner isn't always dbo
, so make sure to replace it with whatever schema you use.