Using Azure VPN gateway (point to site) Azure AD authentication connect with on-premise servers possible?

Hi everyone,

I am new to Azure networking. I have a question regarding Azure VPN (point to site).

Is it possible to connect Azure VPN (point to site) azure virtual network gateway connect with cisco asa on-premise server?

For example : user connects to Azure VPN ( assigned with private IP from azure gateway).from here then user can access on-premise resources ( behind Asa-5506)

Thanks