Independent of firewalls or other considerations, there are two basic ways gain access to a VirtualBox VM Guest hosting e.g. a web server.
The first option is to add a bridged network adapter (this is the simplest solution). This will add a virtual adapter for the Guest that can be accessed like any normal machine on the network (i.e. via a discrete local IP address ex. assigned by your router's DHCP).
The second option is to use the existing NAT adapter's Advanced options to configure port forwarding, like you would on a router. That is, you would take e.g. port 80, and tell VirtualBox to pass requests for that port to your Guest.