Remote access VPNs can be setup using either IPSec (IKE v1 or IKE v2) or SSL.
The "traditional" Cisco VPN Client is often used for IPsec (IKEv1) and the newer AnyConnect Secure Mobility Client can be used for either IPsec (IKE v2) or SSL VPNs. You can also build clientless SSL VPNs that use a browser and don't require additional end user software.
SDM is the old product that has been replaced by the preferred Cisco Configuration Professional (CCP). I'm not sure about SDM but CCP will setup all the IPsec common settings for you by default if you use the VPN Wizard or you can override them and choose non-default settings on your own.
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