You cannot redirect already opened TCP connections to another device, because in this case the endpoints of the connection would need to change - but the endpoint (ip+port) is an essential part of the connection. So you could only transfer the data you received at the server from one connection to the other and back, or you could try to make the two parties connect directly to each other from start with TCP hole punching like mentioned in a comment already. But this will only work for simple NAT setups.
Simple port forwarding at the server will not work for already established connections, because you would have to rewrite not only sender and receiver of all packets (e.g. NAT) but also rewrite the sequence numbers etc so they match the other established connection. So you would need to do the forwarding in user space or inside the kernel at the connection level and not the packet level with techniques like socket splicing.