diff --git a/examples/python/visualization/remote_visualizer.py b/examples/python/visualization/remote_visualizer.py
new file mode 100644
index 00000000000..e360e55272b
--- /dev/null
+++ b/examples/python/visualization/remote_visualizer.py
@@ -0,0 +1,71 @@
+# ----------------------------------------------------------------------------
+# -                        Open3D: www.open3d.org                            -
+# ----------------------------------------------------------------------------
+# Copyright (c) 2018-2023 www.open3d.org
+# SPDX-License-Identifier: MIT
+# ----------------------------------------------------------------------------
+"""This example shows Open3D's remote visualization feature using RPC
+communication. To run this example, start the client first by running
+
+python remote_visualizer.py client
+
+and then run the server by running
+
+python remote_visualizer.py server
+
+Port 51454 is used by default for communication. For remote visualization (client
+and server running on different machines), use ssh to forward the remote server
+port to your local computer:
+
+    ssh -N -R 51454:localhost:51454 user@remote_host
+
+See documentation for more details (e.g. to use a different port).
+"""
+import sys
+import numpy as np
+import open3d as o3d
+import open3d.visualization as vis
+
+
+def make_point_cloud(npts, center, radius, colorize):
+    pts = np.random.uniform(-radius, radius, size=[npts, 3]) + center
+    cloud = o3d.geometry.PointCloud()
+    cloud.points = o3d.utility.Vector3dVector(pts)
+    if colorize:
+        colors = np.random.uniform(0.0, 1.0, size=[npts, 3])
+        cloud.colors = o3d.utility.Vector3dVector(colors)
+    return cloud
+
+
+def server_time_animation():
+    orig = make_point_cloud(200, (0, 0, 0), 1.0, True)
+    clouds = [{"name": "t=0", "geometry": orig, "time": 0}]
+    drift_dir = (1.0, 0.0, 0.0)
+    expand = 1.0
+    n = 20
+    ev = o3d.visualization.ExternalVisualizer()
+    for i in range(1, n):
+        amount = float(i) / float(n - 1)
+        cloud = o3d.geometry.PointCloud()
+        pts = np.asarray(orig.points)
+        pts = pts * (1.0 + amount * expand) + [amount * v for v in drift_dir]
+        cloud.points = o3d.utility.Vector3dVector(pts)
+        cloud.colors = orig.colors
+        ev.set(obj=cloud, time=i, path=f"points at t={i}")
+        print('.', end='', flush=True)
+    print()
+
+
+def client_time_animation():
+    o3d.visualization.draw(title="Open3D - Remote Visualizer Client",
+                           show_ui=True,
+                           rpc_interface=True)
+
+
+if __name__ == "__main__":
+    assert len(sys.argv) == 2 and sys.argv[1] in ('client', 'server'), (
+        "Usage: python remote_visualizer.py [client|server]")
+    if sys.argv[1] == "client":
+        client_time_animation()
+    elif sys.argv[1] == "server":
+        server_time_animation()
diff --git a/python/open3d/visualization/_external_visualizer.py b/python/open3d/visualization/_external_visualizer.py
index ac7209127f0..774ddbaebe1 100644
--- a/python/open3d/visualization/_external_visualizer.py
+++ b/python/open3d/visualization/_external_visualizer.py
@@ -37,17 +37,23 @@ def set(self, obj=None, path='', time=0, layer='', connection=None):
 
         Example:
             To quickly send a single object just write::
+
                 ev.set(point_cloud)
 
             To place the object at a specific location in the scene tree do::
+
                 ev.set(point_cloud, path='group/mypoints', time=42, layer='')
+
             Note that depending on the visualizer some arguments like time or
             layer may not be supported and will be ignored.
 
             To set multiple objects use a list to pass multiple objects::
+
                 ev.set([point_cloud, mesh, camera])
+
             Each entry in the list can be a tuple specifying all or some of the
             location parameters::
+
                 ev.set(objs=[(point_cloud,'group/mypoints', 1, 'layer1'),
                              (mesh, 'group/mymesh'),
                              camera
@@ -147,6 +153,7 @@ def draw(self, geometry=None, *args, **kwargs):
 
         Example:
             Here we use draw with the default external visualizer::
+
                 import open3d as o3d
 
                 torus = o3d.geometry.TriangleMesh.create_torus()
diff --git a/python/open3d/visualization/draw.py b/python/open3d/visualization/draw.py
index f7764b41400..aa6e29e2b2c 100644
--- a/python/open3d/visualization/draw.py
+++ b/python/open3d/visualization/draw.py
@@ -83,9 +83,10 @@ def draw(geometry=None,
         animation_time_step (float): Duration in seconds for each animation
             frame.
         animation_duration (float): Total animation duration in seconds.
-        rpc_interface (bool): Start an RPC interface at http://localhost:51454 and
-            listen for drawing requests. The requests can be made with
-            :class:`open3d.visualization.ExternalVisualizer`.
+        rpc_interface (bool or str): Start an RPC interface at this local
+            address and listen for drawing requests. If rpc_interface is True, the
+            default address "tcp://localhost:51454" is used. The requests can be
+            made with :class:`open3d.visualization.ExternalVisualizer`.
         on_init (Callable): Extra initialization procedure for the underlying
             GUI window. The procedure receives a single argument of type
             :class:`open3d.visualization.O3DVisualizer`.
@@ -202,7 +203,9 @@ def add(g, n):
         w.show_skybox(show_skybox)
 
     if rpc_interface:
-        w.start_rpc_interface(address="tcp://127.0.0.1:51454", timeout=10000)
+        if not isinstance(rpc_interface, str):
+            rpc_interface = "tcp://127.0.0.1:51454"
+        w.start_rpc_interface(address=rpc_interface, timeout=10000)
 
         def stop_rpc():
             w.stop_rpc_interface()