How Can I Connect Using A WebRTC-Offer With PeerJS

I want to be able to connect using PeerJS but with a WebRTC connection offer. In the docs it is like: var conn = peer.connect('dest-peer-id');
https://peerjs.com/docs/#peerconnect

I see that the peer object exposes the underlying RTCPeerConnection. Is it possible for me to connect peers this way? i am hoping for something like:

// on computer-1
let offer = await peer.RTCPeerConnection.createOffer()


// on computer-2
let conn = peer.connect({ offer });
// or
let conn = peer.RTCPeerConnection.connect({ offer });

Is there a way i can use the undelying RTCPeerConnection to connect to a peer. Im hoping this could be a way to connect without requiring a peer-broker.