I've created a SOAP Service in ABAP, which perfectly works inside the network. Now I wan't it to be called from outside and I haven't really found any tutorial.
Most likely a SAP Web Dispatcher or a reverse proxy is required, but how to use them? Or is there an easier way to make the endpoint "public" and callable from the "outside"?
Making it public not part of SAP system. You need to configure your network to allow incoming request. Generally you need to configure your firewall. You need to open a port on firewall and redirect it to your SAP server http/https port. It will also create a risk for opening http/https port to outside. You must sure about limit your your web service user authorizations and changing all default passwords and using update date SAP system for security patchs.
For more get security I prefer to use a proxy server like nginx/apache to just serve your SOAP service over it.