If you're running Espruino with WiFi then it's possible - but I don't believe it has been done, but it's something I am planning to add to the firmware when I pull the ESP8266 drivers inside Espruino.
There's quite a bit of code so it'd be better just to serve up an IFrame.
About the closest is this I think: http://www.espruino.com/WiFi+Remote+Console
Because of permissions issues you can't just open a socket connection, but you could use WebSockets (and there is already a WebSocket client in Espruino for the Espruino server code).
You could even hack something up using the above link and simple HTTP requests.
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