Yes.
After some more googling I found that if I first do a dos shell of "adb.exe forward tcp:2222 tcp:2222", and then write a VB6 app that sets the winsock control's "RemotePort" to 2222 (the devices port) and the "LocalPort" to 0. I was able to connect and send stuff back and forth between a desktop VB6 app and a B4A android/device app.
The only remaining issue I am running into is converting the text messages to some common format (like ANSI) because the desktop VB6 app is receiving garbled characters from the device, and when I send something to the device from VB6 app, it crashes the test B4A app. UPDATE: I was having a problem generating the correct 4-byte size "prefix" from the VB6 app, so I just initialized the astream in the b4a app w/o prefix and can now send messages back and forth with no problems.