Sure, use a VNC client on the iPad and a VNC server in the guest.
dthotka's suggestion will work but so will enabling a VNC server per guest VM in Virtual Machines > Settings > Advanced > Remote display over VNC. This assumes your iPad or iOS device and the Fusion host are accessible over the same network with no firewalls, etc.
Depending on the guest you may have more responsive in-guest remote access methods like Remote Desktop Services for Windows or custom remote access apps which work over the Internet like LogMeIn Ignition, TeamViewer, etc.
Oh cool, didn't know that was in there. Thanks!