Yes you can, easiest is called tailscale funnel, you’ll just get a url leading to whatever you have hosted. Slightly more complicated is either installing tailscale on family devices and use it as a VPN (so your service is safely shielded from the public internet ), or you can use a reverse proxy on a cheap/free tier VPS.

Tailscale is definitely the most frictionless solution. But you will then rely on tailscale instead of cloudflare, so not ideal. You can also host Headscale so you do not have to rely on them either.