How can I use my server's IPv6 connection from my computer's IPv4?

This question has been answered on ServerFault. The solution is to use a device tunneling instead of the socks proxy.

For a specific connection you could use a socat relay.

You install socat on the server and have it run (e.g. via a startup script) so as to set up an IPV4 to IPV6 relay.

Here's a simple IPV4 to IPV6 TCP relay for an IPV6 web server.

socat TCP4-LISTEN:www TCP6:www.example.com:www

The client connects to the relay's IPv4 address.

You have to convert your server into a IPv6 router and make it the default gateway for your desktop systems. Here is a description how to do this: http://tomicki.net/ipv6.router.php