Step 1 To specify the new subinterface, enter the following command:
hostname(config)# interface physical_interface.subinterface
The subinterface ID is an integer between 1 and 4294967293.
For example, enter the following command:
hostname(config)# interface gigabitethernet0/1.100
Step 2 To specify the VLAN for the subinterface, enter the following command:
hostname(config-subif)# vlan vlan_id
The vlan_id is an integer between 1 and 4094. Some VLAN IDs might be reserved on connected switches, so check the switch documentation for more information.
You can only assign a single VLAN to a subinterface, and not to the physical interface. Each subinterface must have a VLAN ID before it can pass traffic. To change a VLAN ID, you do not need to remove the old VLAN ID with the no option; you can enter the vlan command with a different VLAN ID, and the security appliance changes the old ID.
Step 3 To enable the subinterface, enter the following command:
hostname(config-subif)# no shutdown
On the switch side you have to configure the Interface as Dot1q trunk.
Below you can find the link from where I got this information:
http://www.cisco.com/univercd/cc/td/doc/product/multisec/asa_sw/v_7_2/conf_gd/about.htm
Please let me knwo if you need anything further,
Regards,