Unfortunately, I have very limited experience with the PIX/ASA product line, so I'm not sure how applicable this will be. However, with ISRs it's as simple as creating a static NAT entry, a static route towards the actual host, and redistribution into your routing protocol. Obviously there is a lot of personalization that can be done at each point depending on the design, but those are really the basic steps.
Example:
!
interface FastEthernet0/0
ip address 200.200.200.1 255.255.255.0
ip nat enable
!
interface FastEthernet0/1
ip address 10.10.10.1 255.255.255.0
ip nat enable
!
ip nat source static 10.10.10.5 100.100.100.5
!
ip route 100.100.100.5 255.255.255.255 10.10.10.5
Redistribute static routes into routing protocol, modify route-filters, apply seed metrics, firewall policies, etc.
I know this is basic but I hope you find it helpful.