As stated, NAT is another option, but due to the way SNMP interacts with NAT, IP addresses embedded in SNMP PDUs will not be translated. This will certainly cause problems for applications which do discovery.
I don't know of any official guides on the subject. NAT is probably the most common method of such management, and that is simply using static NAT on the gateway device, to redirect the queries to the inside hosts.
Another option, assuming you can put a gateway device such as FreeBSD or Linux server on the external network, is to use net-snmp's proxy agent capabilities to proxy the requests to the inside hosts using alternate community strings.
This guide was written for cacti users, but it applies to anyone who wants this functionality. The key is using net-snmp from http://net-snmp.sourceforge.net to be the SNMP agent on the gateway host.
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