I just recently obtained a NetGear FWG114P. I have successfully made a VPN Client (ProSafe) connection to it over the public internet. This is an amazing machine. It has a USB print server, very complete logging capabilities, as well as 802.11g and RS-232 fail-over to dial up or LAN-to-LAN connection, NAT, Firewall, and MAC adress filtering.
I cannot say enough good things about it. Also, tech support answers the phone alomost right away (for the first 90 days free), and they turned around a firmware fix in a week when I reported a bug. If you need a USB printserver, and wireless-g as well as VPN, this is the one for you!
You will need to get the ProSafe Client if you need to do VPN, which is a re-branded version of SSH-Sentinel, (which might also work.) You can buy ProSafe from NetGear or perhaps persuade your salesman to kick it into the deal - heh heh.