On the receiver run:
tcpdump host <ip of sender>
On sender run:
echo "PING" > /dev/udp/<ip of receiver>/<port #>
Example:
Sender
$ echo "PING" > /dev/udp/192.9.20.115/6000"
Receiver
$ sudo tcpdump host 192.9.20.111 [sudo] password for jeverson: tcpdump: verbose output suppressed, use -v or -vv for full protocol decode listening on enp0s25, link-type EN10MB (Ethernet), capture size 65535 bytes 12:13:51.616237 IP mc-server.all-offroad.net.37052 > kate.all-offroad.net.6000: UDP, length 5 12:13:51.616314 IP kate.all-offroad.net > mc-server.all-offroad.net: ICMP host kate.all-offroad.net unreachable - admin prohibited, length 41