Hi,
I have the exact same problem, so exact same request.
The main problem I’ve found so far is the lack of possibilities for the “My ID” parameter in the IPSEC configuration.
For “Cisco IPSEC”, we should be able to enter it as a “Key Identifier” (for ISAKMP packet, “Identification Payload”, ID type should be " KEY_ID" ) - “KEY_ID”, which is not possible for now (only “auto”, “fqdn” & “user_fqdn” proposed so far).
The only solution provided so far, back in 2009 on this topic : http://forum.mikrotik.com/t/mikrotik-as-cisco-vpn-client/27450/1 requires to install an OpenWRT metarouter, with vpnc.
Other topics also refers about this problem, like this one : http://forum.mikrotik.com/t/roadwarrior-setup-for-ros/87440/1
Having this working in my Mikrotik equipment would be a great plus.
Best Regards ;
Lobogc.