If you can already access some server/computer remotely through VPN connection, you should be able to configure the ASA to include those other devices too.
If you can provide your ASA configuration (removing any sensitive information from it) we can go through the needed configurations steps for you to be able to directly use the VPN Client computer to access the remote devices with SSH.
If you post the configuration here, please also provide the IP addresses (or a network/subnet) of the devices you need to access
Sorry I made a mistake.
It only when I ssh or rdp from home my vpn connection at work, and try to connect with servers at another location using a point to ppoint vpn that ssh and rdp doesnt work.
Did I undestand you correctly, is the situation the following
What you would need to confirm is
There is also other factors to the this setup but I can only give some general advice without actually seeing your ASA firewall configuration. If you want you can post that for us to go through (remove any sensitive information like public IP:s, username/passwords, etc)