How to find out if SQL server Agent has access to a remote server ?

I want to execute a job from Server1. This job will execute a query on a DB of Server2. I don't know if Server1's SQL server agent has access to Server2's DBs. Is there a way to find out ? If yes, then also is there a way to allow Server1 to access Server2 ?

I do not want to use linked servers and such. 

Thanks.