Yes, this is commonly done. Just configure them separately and they can coexist just fine.
You can also use AnyConnect (3.0 or later) clients with IPSec (IKEv2). Example.
Your licensing needs to support the number and type of AnyConnect clients you want to enable connectivity for. 2 Premium clients are included with the base 5512X. You can add Premium licenses for up to 250 clients on a 5512-X or buy an AnyConnect Essential license (250 users).
Also, clientless SSL VPN is also a separate license.