Consuming an RTP stream and producing a WebRTC

Is it possible to consume an RTP stream and then produce a WebRTC stream locally on mediasoup server? I would use the resulting stream to send it to other (possibly more than one) mediasoup server/s.

What I am actually trying to achieve is to securely send data between two mediasoup servers through imperfect connection (so I cannot use pipe transport)

mediasoup implements ICE lite in the WebRTC transport, so no, you cannot connect two mediasoup endpoints using a WebRTC transport.