This is certainly possible although the details will vary depending on the equipment that you choose. One popular way of doing this is to have 3 ports on your firewall, one of which leads to a completely separate DMZ segment. This has the advantage of isolating the publicly accessible portion of your customer's network from the private part, thereby enhancing security.
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Assuming you are planning on using IPSec as your VPN, you will want to ensure that you configure its policy to allow non-VPN packets to bypass IPSec. RFC 2401 has more about IPSec policies, but you will need to consult your firewall/VPN's user's manual for details on the default policy and configuration.
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