How to set up a software VPN when moving a server to the cloud

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http://serverfault.com – I work in a small company with one office in Dallas and another in Los Angeles. We run a Fedora server at our Dallas location and use a Linksys RV042 at each location to create a VPN connection between the sites. Every time the power or internet goes out in Dallas, our server is inaccessible so the entire company goes down. Because of this, we would like to use a shared server in the cloud (something like Linode) to avoid this problem. As a relative novice to VPN configurations, I would like to know if it is possible to set up a software VPN on the cloud server and connect our local networ (HowTos)