STUN/TURN is basically icanhazip for WebRTC. STUN gives you your public IP:port. TURN is the same, but the returned IP:port is the one that had been dynamically allocated to you at time of querying, rather than the actual ones.

WebRTC clients take that STUN/TURN response and send to peers through out-of-band, through e.g. a lobby server chat mechanism, to set up the connection. This allows NAT table entries to be created as if they are outbound connection at both ends.

You can't make P2P connection with STUN/TURN alone. STUN/TURN is just a tool required for WebRTC.