The EC2 instance should have direct access to the RDS instance as long as they are in the same VPC. You just need to open up the security group assigned to the RDS instance to allow ingress from the EC2 instance.
I think you have SSH tunneling (which isn't needed when both servers are in the same VPC) and SSL database connections confused. SSH and SSL would be completely unrelated in this case.
SSL connection support would be a function of the specific database engine you are using. If your database is configured to support SSL connections, then you should be able to configure your database client software running on your EC2 instance to use SSL when creating connections to the database.