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Some IETF working groups also create protocols which allow firewall
traversal or policy rule establishment:

MIDCOM WG
Establishment of policy rules at middleboxes in an off-path nature
IPSec WG
IPSec protocols would allow only authenticated data traffic to pass security gateways
IPSRA WG
IPSec + legacy authentication + provisioning of configuration parameters.
PANA
Secure network access based on EAP

Additionally of interest: Authorization tokens exchanged with other protocols (e.g. HTTP or SIP) to restrict end host to create firewall rules
Relationship to other protocols and working groups
PPT Version