Companies usually use a VPN device. You could too! However, if you have a modern (fairly new) home router (such as, ASUS), many new routers contain the ability to make the router into a VPN server. I just had a look at my ASUS RT-AC66U and it does have the ability to allow access to your home devices (PC's, generally). Is it easy? I don't know but there are some caveats. For example, if your Internet provider (DSL, cable) changes your IP address every so often, you may need to use something called Dynamic DNS to resolve the Internet-side address of your router (DDNS). If you go into your router, on one of the information screens there should be your Internet facing IP address which will probably start with a number like 69 or 70 (69.x.y.z, etc.). In any case it won't start with a 192 as that will be your LAN addressing (internal, not Internet).
Is it safe? Should be similar to using the VPN at work but I usually don't put more on the Internet as added safety so use good userids and complex passwords since you mentioned something about sensitive data and/or financial data. You should never keep this information directly on the Internet without VPN and good security.
Since all router models are different, I would look your model up and get the user manual to look this procedure up. That is:
1) Look up on whether your model can be a VPN server
2) Look up the procedure for your model to turn this feature on and configure it.
3) (make sure you test this out when you are away from home)
4) You may need to look up DDNS if your Internet-facing router IP address can change (that is, is dynamic).
5) Make sure you use good encryption if you get the option based on what you said would be accessed.
Hope this helps.