Sharing Internet with Routing and Remote

It is possible to share your Internet connection with Routing and Remote Access? I know I have seen it before, and even tried to do it, but never had any luck making it work. Right now we are using ICS on a Windows 2000 server for sharing the Internet connection. I think Routing and Remote access as a NAT would have better results. Can I please get your opinions and maybe help on how to set it up?

Thanks