Slight nitpick: RDP is the Remote Desktop Protocol.
To solve the issue at hand I guess you would need console access to the server or VM. The simplest way of opening for RDP through the firewall is probably to turn off then re-enable the function in the server manager or computer properties. Doing that usually ensures all necessary settings are put in place in one go.
It’s also possible to manually enable the relevant remote desktop rules in the firewall directly.
To avoid having it happen again, I recommend never turning the firewall off in the first place: It’s good practice to know enough about what’s running on your servers to be able to selectively allow only wanted traffic through their firewalls; preferably with a limited range of allowed sources for anything but truly public traffic.