What version of the ESB are you using?
You can deploy a HTTP endpoint using the JBossRemoting gateway listener (<jbr-listener>), but you'll need to write your own ESB Actions for processing the requests. The HTTP request properties (method, path, query etc) are supplied to the action pipeline through the ESB Message properties.
I use jbossesb-4.2.1GA. Is there an ESB Action provided for producing JSR311 web service like SOAPProcessor? Can I use SOAPProcessor Action to produce a restful web service?
We have no support for JAX-RS at present. HTTP verb processing as Tom suggests is all that is planned for the next major release. Full REST support requires the user to be aware of what REST (and ROA) means, so we need to have this planned carefully. It'll happen, but just not at the moment.