The simple answer is Yes; as long as the end point machines have the SoftGrid client installed.
The longer answer is that this opens a minefield of questions; fortunately, we have the answers. Here are some common questions:-
SoftGrid requires some assistance to answer these questions, the Intelligent Application Gateway (IAG) http://www.microsoft.com/forefront/edgesecurity/iag/default.mspx
IAG’s killer features for SoftGrid are the End Point Engine and Application Layer Firewalling/Intelligence. Combine these and you can do pre-authentication security screening, determine level of trust, provision access to SoftGrid resources allowing only predefined valid calls, and delete user footprints post session. And all this is done over SSL.
Using IAG also gives you the ability to answer some more fundamental questions:-
Once you know how you're going to provide the corporate services to any end point, IAG and SoftGrid can provide the technological solution.
Have fun with this one - setup Hamachi on 2 machines - one for the SGVAS and one for the SG Client. You can use the Hamachi IP as the SG Host name in the SG Client. VPN goodness for SG.
Do you have any information about the IAG setup, as softgrid is not at default application in IAG ?