I was literally typing up this message when I saw your comment. I assume that the answer is yes?
> I'm pretty naive, but would this enable one to self stream to a limited audience? Like if I wanted to just steam my desktop to <5 people. I've kinda been surprised that there's a lack of tools that can accomplish this.
It would be really cool if I could present something from my desktop, show my face, and whatever, while just handing my friends a link and not requiring them to download anything.
I don't know the answer to the WebRTC part, but as long as you have a server with not-outrageously-priced outbound bandwidth, you can install an open source RTMP server like SRS[1], and stream to that RTMP server from OBS. It's really easy, configure the RTMP server & stream key, then "Start Streaming" which is right next to "Start Recording". You can then hand your friends a link, and they can play it in any media player with RTMP/HLS/FLV stream support, or you can add a simple web UI with e.g. hls.js[2] (very easy to write, there might even be prepackaged solutions) so that they truly don't need to download anything.
The hardest part to establish peer to peer streaming like this is actually making sure all participants can see your IP address. Residential and cellular network are often behind CGNAT which make peer to peer connections almost impossible without using dedicated relay servers (e.g. SRS like other mentioned). Even if you have a publicly routable IP address, your router configuration might cause issues with peer to peer connections and it's non-trivial for average layperson to fix by themselves.
> I'm pretty naive, but would this enable one to self stream to a limited audience? Like if I wanted to just steam my desktop to <5 people. I've kinda been surprised that there's a lack of tools that can accomplish this.
It would be really cool if I could present something from my desktop, show my face, and whatever, while just handing my friends a link and not requiring them to download anything.