The server part of it runs on Linux or Docker so you should be able to run the server part in Docker on Windows if you need to or install it on WSL or a VM. But since you are accessing Linux machines using MobaXTerm it seems reasonable to think you can install it on one of those Linux machines.
There is no program required to access the machines after that point beyond a relatively recent browser so you can access everything from Windows. And it supports VNC as well as RDP, both of which are supported by Windows so you can access your Windows machine through Guacamole too IIUC.
The whole point of Guacamole is to provide a web based gateway to access and administer your machines through a browser.