Hi,
Sure you can .. that is a pretty standard set up.
If you are using an ASA .. just follow the wizard. Then it is just a matter of configuring your Cisco VPN client with the correct Gateway IP, vpn group and password.
The below link gives a bunch of options accroding to your situation.
http://cisco.com/en/US/products/sw/secursw/ps2308/prod_configuration_examples_list.html
I hope it helps .. please rate it if it does !!!