They don't have to be the same. VPN is a VPN, no matter what device you configure it on.
If you're using ipsec as a protocol for example, make sure that all vpn info (hash, encryption, crypto maps etc)match on both firewalls and you shouldn't have problems.
I have been configuring vpn's between cisco and different vendor equipment with no problems, but having the equipment from same vendor helps in configuring since once you configure one, you can easily configure other peer.
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