You have to create a static route.
Assuming that the dns server on the other side is 192.168.100.1 and your pfSense on your side is 10.77.76.1, if not ajust accordingly. Note that the network for the remote dns server is /32 and not /24.
Interface Network Gateway
LAN 192.168.100.1/32 10.77.76.1
After that you have to go to Service -> DNS Forwarder and in the section saying "Below you can override an entire domain by specifying an authoritative dns server to be queried for that domain." you add.
Domain IP
colo.local 192.168.100.1
You will now have to connect to your server using \server1.colo.local\Data or whatever you used in the previous section. To avoid to write the "colo.local" you could add this to your Windows TCP/IP Advanced DNS configuration.