No that is not possible. Several cisco fw devices doing layer 3 have the same issue.
It seems importing an arp table is very complicated :-|
You could create an interface in each vlan on you switch. Then using scripting you could ping from the switch the entire subnet.
This would fill the arp table, it stays there for about 4 hours and IP addresses would appear in the UT it it runs during that time
Cheers,
Michel