Are you looking to have McAfee host your ePO within the cloud? That is available, but they control the configuration, maintenance, patching, etc. If you went with the McAfee cloud hosted ePO you would most likely be running v5.1.1 which does have a minimum supported products list:
If you're talking about the new SaaS suites then it's not possible to migrate from an ePO on-premise to an ePO cloud. As far as I know ePO cloud is not included on the enterprise licenses like EPS, EPA...but only with the new SaaS suites.
If you are on one of these new suites (Essentials or Advanced) then you have to start from scratch and configure the ePO cloud again (maybe you can import policies tasks but not transferring computers)