If I understand correctly: You are trying to expose a server from within minikube to your host network. This can be done a few ways:
The first is to create a NodePort Service for your server/pod. You can then run minikube service list
to get the url for your service:
$ minikube service list
|-------------|----------------------|-----------------------------|
| NAMESPACE | NAME | URL |
|-------------|----------------------|-----------------------------|
| default | kubernetes | No node port |
| default | <your-service> | http://192.168.99.100:<port>|
| kube-system | kube-dns | No node port |
| kube-system | kubernetes-dashboard | http://192.168.99.100:30000 |
|-------------|----------------------|-----------------------------|
The second is to use kubectl proxy and proxy the port you want to your local machine. This method does not require you to create a service, it should work with your current configuration.
kubectl proxy --port=<port-you-want-access-on-server>
This will then make the proxied port available at localhost:port
If you are just trying to get the IP address of a pod, this command should work (from How to know a Pod's own IP address from a container in the Pod?):
kubectl get pod $POD_NAME --template={{.status.podIP}}
Also if you just need to access minikube's internal network you can use:
minikube ssh
Which will drop you into minikube's VM