Make Docker daemon to listen on the IP and access it remotely

Warning, this implies a security risk as all communications will be done unencrypted. Also, exposing a docker daemon externally, allows others to manage containers on your host. By default - this is disabled and Docker daemon listens on a socket only.
Run dockerd temporary to listen on local IP 10.10.10.10:

dockerd --debug \
        --host=tcp://10.10.10.10:2375

You can also make these changes permanent by adding a file /etc/systemd/system/docker.service.d/settings.conf with the contents:

[Service]
ExecStart=
ExecStart=/usr/bin/dockerd -H unix:// -H tcp://10.10.10.10:2375

Save and close the file. Reload systemd and restart the docker daemon:

systemctl daemon-reload
systemctl restart docker

Or the third way is to use /etc/docker/daemon.json. Create that file and fill it with the contents:

{
  "hosts": ["unix:///var/run/docker.sock", "tcp://10.10.10.10:2375"]
}

After setup - check listening port:

sudo netstat -lntp | grep dockerd

or:

sudo ss -lntp | grep dockerd

Next, connect to Docker daemon remotely from another machine:

export DOCKER_HOST="tcp://10.10.10.10:2375"
docker ps -a

or directly, if you do not want to declare environment variable:

DOCKER_HOST="tcp://10.10.10.10:2375" docker ps -a