VPN Solutions for Distributed Installations?

merreborn asks: "I work for a very small software company (10 employees) that's developing a Point of Sale solution for a small retail chain (~20 stores in several states) on the other side of the country. We're going to be shipping Debian systems with our software installed to these locations -- all of which are connected to the Internet via consumer-grade DSL, and inevitably behind some sort of NAT box. Our office is similarly connected, and we've got a couple of dedicated, co-located servers off-site with static IPs. We'd like to be able to access these systems remotely for maintenance from the office -- what would that entail? Which VPN solutions are best suited to this situation these days (IPSec, PPTP, vtun, ssh, ssl/OpenVPN)? Are there any detailed, current books on the subject? (O'reilly's VPN book is 6 years old now)"