Emerging embedded systems, such as autonomous vehicles, demand highly efficient remote data transfer, whereas existing networking hardware and protocols cause high communication latency and CPU consumption. In this article, we propose embedded RDAC (eRDAC), an efficient and reliable remote direct access and control solution for embedded systems. The proposed remote access controller in eRDAC has a two-layer protocol offload engine that employs the command/response protocol on UDP to ensure the data reliability and security, and a multichannel DMA controller with configurable priority to improve the efficiency. Besides, a reusable hardware Ethernet MAC is implemented to support not only remote access commands but also standard Ethernet communication. We implement eRDAC on FPGA and the corresponding software in the Linux system. Experimental results show that eRDAC can reduce the latency of remote I/O reading/writing by 74.3%/74.9% ($3.76\times /3.98\times $performance improvement) and reduce the latency of remote memory reading and writing with 1024B by 54.2% compared to the socket-based communication. Meanwhile, eRDAC can cut off the consumption of the remote processor and achieve 0.250mJ/Mb energy consumption with only 25-mW power.