Yes, you have 1 VPS admin panel (probably WHM) where you manage the server, create accounts, etc. You'll then have 1 cpanel per account just like you have with your shared account.
Check out wiredtree offer:
http://www.wiredtree.com/managedvps/ (non-affiliate link)
I have a server there (used to have a VPS) and I'm 100% happy. Remember that there might be some discount coupons. (10percentoff takes 10% off your monthly bill)