First, there is no SCCM 2016, a new SCCM current branch will be released with the Windows Server 2016 or System Center 2016 Suite I guess.
As you said, there are no much public document for this topic, I would like to share with you something.
Actually usually we can consider to put the CAS to the Azure, but not the all SCCM core infrastructure. But technically you can do that
You can already install the SCCM Current Branch 1060 on the Azure, including Primary Site Server, Database, WSUS, Reporting, App Cat, AI etc.
To manage the on premises devices, you need to setup a DP and MP on your premises site.
You need to setup the Site to site VPN between your Azure network and on premises site..
I understand that you only want to manage On premises device, but just want to share with you, some feature needs broadcast won't work for the VMs in Azure, such as PXE, WDS....
Azure does not support broadcast (cf. https://azure.microsoft.com/en-us/documentation/articles/virtual-networks-faq/).
“WDS cannot be run on a virtual machine in Windows Azure.”
https://technet.microsoft.com/en-us/library/hh831764(v=ws.11).aspx