If you can install OpenVPN, inlcuding its virtual network apator driver (this may be the major sticking point depending on how your work PC is locked down) on the work PC then you should be able to do this, using the work PC as the client, irrespective of incoming firewall problems at that end.
If the work machine connects to your home VPN end-point then you will be able to send traffic both ways, so the home end will be able to see the work end even though it is the work end that initiated the connection. You will just need to leave the VPN connection open at the work end as you leave (either by leaving your account logged in with the client running or by running the client as a service). Getting access to other machines at either end directly is a seperate set of routing issues, but as you only mention connecting from one machine to the other I'm guessing this is not an issue for you anyway - you can always RDC between the machines and access other network resources indirectly that way.
You might have more luck with a TCP based setup rather than a UDP based one, depending on how youlr work's firewall(s) are configured. Most stateful firewalls will be bright enough to identify incoming UDP packets for the VPN as having been requested so both methods should work, and UDP is usually recommended for a couple of reasons, but I'd try TCP first as this is slightly more likely to work. Also, get it working as a stand-along client before trying to get things going as a service.