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DNS issue on SA540, can not query names on VPN

I use site-to-site IPsec VPN connecting HQ to Branch.   From both sites, it can access Internet. However, both sites can reach another site network only with IP address but not via DNS name. Below is scenario

HeadQuarter   -----------------------(WAN- SA540)  ****************************(Internet/VPN)******************************(WAN - SA540) -------------Branch

(192.168.3.0/24,pri IP)     (192.168.3.1 Lan IP, 80.x.x.x, Pub IP)                                   (110.x.x.x, Pub IP,192.168.6.1 LanIP)      (192.168.6.0/24, pri IP)

(DNS server 192.168.3.2)

Computers in HQ are DHCP, 192.168.3.10-100  , DNS set to 192.168.3.2

Computers in Branch are DHCP, 192.168.6.10-100 , DNS set to 192.168.6.1 ( SA box IP)

The problem is computer in Branch, 192.168.6.x  can not query any names stored in HQ DNS server (192.168.3.2)    I tried to DHCP branch giving primary DNS to 192.168.6.1 and secondary DNS to 192.168.3.2 but it does not work though

Any clue on this ?

Thank you in advance

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