Yes you can!
With the recent GA release of Windows Azure Infrastructure Services, you can use RRAS to connect your on premises network to the Azure Virtual Network. They even provide you a script that will enable you to use PowerShell to configure the RRAS server.
However, if you’re nervous about using scripts for this function, you can use this great article by Shannon Fritz on how to connect your Windows Server 2012 RRAS server to the Azure Virtual network.
Check it out on the Concurrency blog at:
DEBRA LITTLEJOHN SHINDER
MVP (Enterprise Security)