Is it possible to be always connected to a VPN without prompting for a UN/PW? Is it possible to install some configuration profile on an iOS Device that will always have the user connected to a VPN without having them input his/her username/password each time one tries to connect?

In other words, our current setup has users connecting to a VPN via the "Settings" App on the iPad (using IPSec).  With this setup, our users are prompted for his/her password each time he/she tries to connect to the VPN.

We are trying to avoid prompting for a UN/PW and having our users go to the Settings app in the first place, so is there any way to force a VPN connection, and therefore always stay connected via the iPhone Configuration Utility?
You can configure the VPN setting on your ipad, iphone or ipod touch to save the User Name and Password for VPN. I don't know of a way to have it constantly connect the VPN whenever the is a connection. Given the time it takes to establish a VPN handshake, it would be kind of frustrating to wake the device then not be able to connect to any internet/network related Apps for 15+ seconds while it connects to the VPN. 

Choose Settings > General > Network > VPN > then choose the VPN Configuration. Fill in in the username a password section and then you can just turn the VPN on when you need it and not have to fill out the User Name and Password.

more info:
http://support.apple.com/kb/ht1424

Alternative you could look at something like Apple's Mobile Access server, to give you that secured VPN like connection all the time without the hassle of starting a VPN connection:

http://www.apple.com/server/macosx/features/mobile-access.html