Automatic Incremental Backup Solution for 2 Linux servers

We have 2 Linux servers (1 local running Ubuntu, 1 Hostgator Dedicated server) and need them backed up daily, into a new dated folder each day created with sym-linked files (so we can manually download and restore any folder/files from any day without picking through versions of files) Possible to use RSync. We are open to suggestions on where to store these backups (Amazon, Google, etc.) but the folders should be accessible via SFTP or online file browser system.