RV042 and Network Design

We have a kind of spoke and hub setup with a main site, and several smaller sites, some only 1 or 2 people small.  We do not have a network guru here of any kind.  We have a couple of programmers and a couple of guys that take care of everything from exchange, to toner, to vmware.  

For the larger sites we have vpn lines from TW of t-1 or greater.  For the smaller sites (12) we have cable or dsl connections.  As of now we have rv042's at the smaller sites, and various cisco routers at the larger sites (which some are ours some are TW's, it isn't consistent).  We are wanting to get our network to a more manageable level, and add in vlan's with qos for our ip phones.  We're looking at putting 1 layer 3 switch at each location, in order to handle the qos.  Edit: on the vlan's we're planning data, voice, servers, network hardware, wireless guest seperate, possibly credit card machines which are on our network and need to be moved off or vlan'd off;

My question then would be, will those rv042's which are vpn'd in to a cisco router at our hub, pass the vlan data to the hub ok?  If not, what would you recommend as a replacement.  To take that a step further, if you offer a replacement does it make sense to not get l3 switches at the smaller sites and just do the qos at the router level (or is that even possible).  Also, feel free to point out any flaws or ask any questions.