Microsoft has developed a great article centered around configuration of the Windows Firewall with Advanced Security and IPsec Policies.
This step-by-step guide illustrates how to deploy Active Directory® Group Policy objects (GPOs) to configure Windows Firewall with Advanced Security in Windows 7, Windows Vista, Windows Server 2008 R2, and Windows Server 2008. Although you can configure a single server locally by using Group Policy Management tools directly on the server, that method is not consistent or efficient when you have many computers to configure. When you have multiple computers to manage, create and edit GPOs, and then apply those GPOs to the computers in your organization. Common scenarios, including firewall rule deployment, server and domain isolation, and IPsec tunnel mode configuration are discussed.