If you have CEM (Cloud Enabled Management) enabled/configured in your SMS 7.6.x environment and you have Symantec Management Agent installed on Windows Desktop OS client PC or on Windows Server OS then you can manage them both via CEM.
You can Patch them, install software, execute tasks, etc, but if you are using Monitor Solution and there is an agent-based "Monitor Agent" installed on Windows Server which is in cloud, then agent-based monitoring will doesn't work, since it isn't supported in CEM mode and only works if Windows Server with Monitor Agent plug-in is in intranet network.