In AWS I have a VPC set up with a Bastion Host. The bastion host is a single EC2 instance with a public address trough which you can SSH to any other server on the VPC.
Under Connection --> SSH --> Tunnels, specify the Source port: 3306, Destination: yourRDSendpointname:3306
Don't forget to click add!
Connect to the bastion host with those settings
Add a new connection in MySQL workbench and point it to your localhost port 3306 (assuming you aren't running anything on 3306 on your local client machine)
Put in your username and password for your RDS instance