As for "static settings" the only thing you should need on the phone is the address of the RTC and TFTP (which should be the same).
We're doing this exact same thing with the 3300 and Cisco 831 DSL routers on the client side running Cisco's IPSEC.
Though not using the Teleworker server, we do set the phone up using the Teleworker settings only so that the phone has the benefit of the much larger jitter buffer that's not available otherwise.
Here's the relevant piece of the router config (key, peer & IP address altered to protect the innocent)
crypto ipsec client ezvpn ezvpn-client
connect auto
group ezvpn key Cgol#vpn1ez
mode network-extension
peer 64.91.212.197
xauth userid mode interactive
!
!
interface Ethernet0
ip address 10.221.238.65 255.255.255.240
ip nat inside
ip virtual-reassembly
ip tcp adjust-mss 1348
arp timeout 300
no cdp enable
crypto ipsec client ezvpn ezvpn-client inside
hold-queue 32 in
hold-queue 100 out
!