How to create this kind of private network for business?

Hello, I wanted to know what I could possibly do to create this kind of system:

Let's say I have a workplace and we have our own machines here that host things like our websites, files, dashboards, etc. and we want users who are connected to some kind of VPN to be able to access any of these resources. So all of these things are protected from the outside world and only those who are in our network domain can access these resources freely.

Is it possible to configure this? If so, do you just need to use something like OpenVPN to set up some kind of VPN, and then you can use a VPN client, like the default Windows one, to connect to the VPN?