For SSLVPN and HTTPS in general it's best to have a certificates with from one of the big PKI providers.
For IPsec however it is not required. You can have both ASA and user certificates provided by an internal CA (windows CA, openCA, ejbca, etc...)
There is a basic configuration example:
http://www.cisco.com/en/US/products/ps6120/products_configuration_example09186a0080930f21.shtml
It might not be EXACTLY what you're looking for but should get you started.