Connecting to VPN server

I have an application that needs to talk to an application which is behind a VPN network. We need to create a connection using vpn, is is possible to do it via access?

According to the third party request, authentication method should be PSK and encryption is aes-256-cbc. Can we set that up on cloudflare access level?

Architecture

Public web application → (Cloudflare access) ->VPN application

This is my first time working with VPN and what i am saying here might be completely wrong.