Are there reliable VNC client to access from Windows 10 connecting to macOS Sierra? I want to remote access my MacBook Pro running Sierra from my Windows 10 PC. 

I followed these steps from the Apple site but it does not work. 

Both RealVNC and the VNC app for the Chrome browser result in connection timeout errors. Both computers are on the same network and I have tried providing port 5900 with no success.

Any to make these more reliable or change software to achieve a solid connection?
Try TeamViewer. It has an ID for your computer that's tied to your account and can be used to control your computer from anywhere. I've used it to control OSX from Windows 10 and vice versa.