As long as you are using ASA version 8.4 or above this can be quite easy, reference the below article:
https://supportforums.cisco.com/document/66011/using-hostnames-dns-access-lists-configuration-steps-caveats-and-troubleshooting
In short:
Configure the DNS:
domain-name cisco.com
!
dns domain-lookup inside
dns server-group DefaultDNS
name-server 192.168.1.200
domain-name cisco.com
Configure an object group referencing a FQDN (URL):
object network obj-hr88.cisco.com
fqdn hr88.cisco.com
Configure an ACL:
access-list inside_in deny ip any object obj-hr88.cisco.com
access-list inside_in permit ip any any
Add the ACL to an interface.