Lawrence Systems has an excellent video describing how to setup OpenVPN for remote access on pfsense. Once the setup is complete, add users from the System / User Manager / Users dialog in pfsense.

Windows Users

For Windows users, simply run VPN / OpenVPN / Client Export / Current Windows Installer. This creates an executable to run on the client machine.

Android Users

For Android users, create the inline configuration (.ovpn) file and copy to the device. Install OpenVPN from the play store and import the profile (.ovpn file).