[Written on Facebook in response to a post by Glenn Fielder.]
I implemented a proof of concept WebRTC server over the Christmas holidays specialized for use by dedicated server games with UDP-based protocols. The ICE/SDP side of things is like 100 lines if you only code the parts you need rather than using libstun or whatever (the server's SDP offer specifies its public IP, so you just have to implement the STUN responses when the client starts to bang on your ports), and you can likewise hard code the tiny subset of SCTP you need for data channels. The only thing you really need external code for is the cryptography for the ICE authentication and for DTLS, where I used mbedtls.
One thing you didn't mention in your article is that WebRTC data channels (i.e. SCTP over UDP) are congestion controlled per WebRTC connection with a TCP-like algorithm even if you set the no-ordering, no-retransmit options, so you can't use them to efficiently tunnel a UDP protocol that wants to do its own congestion control, like