Here are D-Link's definitions for the UPnP Settings and UPnP Port Forwarding functions:
UPnP Settings - UPnP is short for Universal Plug and Play, which is a networking architecture that provides compatibility among networking equipment, software, and peripherals. The DCS-932L is an UPnP enabled Internet camera that will work with other UPnP devices. This function is enabled by default. If you do not want to use this feature, you may disable it by selecting Disabled.
UPnP port forwarding - UPnP port forwarding will allow a IP camera to communicate with a UPnP compatible network router for simplified local network device access as well as remote access via the Internet. In order to allow for UPnP port forwarding you will first need to ensure that UPnP is supported and working on your router. Once this has been confirmed you will then need to enable UPnP port forwarding on your IP camera. If the defaults ports used are free for port forwarding or if you will need to change the HTTP ports that are in use to allow for proper UPnP port forwarding. After the proper network ports have been assigned to your IP camera you should then be able to access your IP camera over the Internet.