Expanding on @EJP's suggestion to use port forwarding, the required command is covered in User Manual, §6.3.1 Configuring port forwarding with NAT. Suppose your service
on guest "VM name" is a web server listening on port 80. You can forward host port 12345 to guest port 80 like this:
VBoxManage modifyvm "VM name" --natpf1 "service,tcp,,12345,,80"
When you browse http://127.0.0.1:12345
on your host, the guest server will respond. You can delete the setting using something like this:
VBoxManage modifyvm "VM name" --natpf1 delete "service"
You can examine the setting using something like this:
VBoxManage showvminfo "VM name"