Going through the documentation on Cisco's site, I came up with another solution for R6 in this section:
Here is the config I applied to R6 and it works just fine - R5 calls in using its Dialer profile. This should meet all the requirements of that section.
I'm posting this because I saw references all over the place that made me believe the VPDN config is the 'old' way of doing this. R6 is a 3640 running 12.3(8)T11 IOS.
username AS200 password 0 CISCO
bba-group pppoe R5
virtual-template 23
!
!
interface Ethernet0/0
no ip address
full-duplex
pppoe enable group R5
!
interface Virtual-Template23
mtu 1492
ip address 24.1.56.6 255.255.255.0
ppp authentication chap
ppp chap hostname AS100