Configuration on the ASA side is the same as in the following example:
I couldn't find any specific document for the RV042 but the GUI is intuitive, the only limitation on this side is that it can only build one SA (one slot for remote network and another for local network) so summarization must be used if you want this site to reach multiple subnets on the other network, buildling multiples might work but the results are variable and not supported.
Please check Jonnathan's post (5 stars) to get familiar with the VPN configuration on the ASA.
On the other hand, here is nice doc:
Please rate any posts you find useful.
I am sorry but I just saw this in my inbox.
The configuration provided does not depend on the platform, so you should be OK.
Please mark this post as answered if you do not have any further questions.