No, both ends of the wire have to be either trunk (vlan tagged packets) or access (untagged packets with implicit vlan at switchport). On the ASA side the physical port is unconfigured and the various vlans are assigned to subinterfaces. This is orthagonal to ethernet port-channels, where once again the endpoints on switch and firewall have to agree, regardless of trunk versus access status.
An example switch and firewall config for a trunked port could look like:
switch:
interface Gi1/0/1
switchport trunk allowed vlan 1,10,30
switchport trunk native vlan 666
switchport mode trunk
switchport nonegotiate
firewall:
interface GigabitEthernet0/0
no nameif
no security-level
no ip address
no shutdown
interface GigabitEthernet0/0.10
vlan 10
nameif foo
security-level 10
ip address 192.0.2.1 255.255.255.0
ipv6 address 2001:db8:aaaa::1
interface GigabitEthernet0/0.20
vlan 20
nameif bar
security-level 20
ip address 198.51.100.1 255.255.255.0
ipv6 address 2001:db8:ffff::1
-- Jim Leinweber, WI State Lab of Hygiene
