I assume your remote server is Linux too.
Both tasks have to be done:
1) configure and run snmpd daemon on remote machine. Basically this means creating/editing /etc/snmpd.conf file manually or with snmpconf utility and starting snmpd service. To test your setup it's handy to have net-snmp utils installed on a local machine (snmpget, snmpwalk, etc).
Check that remote host is responding to snmp requests issue with command:
$ snmpget -v2c -c public remoteHostNameOrIP sysUpTime.0
DISMAN-EVENT-MIB::sysUpTimeInstance = Timeticks: (2039801384) 236 days, 2:06:53.84
get processors load values (example):
$ snmpwalk -v2c -c public remoteHostNameOrIP .1.3.6.1.2.1.25.3.3.1.2
HOST-RESOURCES-MIB::hrProcessorLoad.768 = INTEGER: 73
HOST-RESOURCES-MIB::hrProcessorLoad.769 = INTEGER: 18
HOST-RESOURCES-MIB::hrProcessorLoad.770 = INTEGER: 11
HOST-RESOURCES-MIB::hrProcessorLoad.771 = INTEGER: 14
HOST-RESOURCES-MIB::hrProcessorLoad.772 = INTEGER: 24
HOST-RESOURCES-MIB::hrProcessorLoad.773 = INTEGER: 22
HOST-RESOURCES-MIB::hrProcessorLoad.774 = INTEGER: 32
HOST-RESOURCES-MIB::hrProcessorLoad.775 = INTEGER: 23
2) add cpu/memory snmp OID targets of your choice to your local MRTG config.
OIDs you are interested in are defined in UCD-SNMP-MIB.txt and HOST-RESOURCES-MIB..txt files (likely located in /usr/share/snmp/mibs).