You can do this very easily. Set your port as a trunk port and allow the VLANs you want. Set the management IP address on your management VLAN and set that as the native VLAN on your port. For example, this is what I did:
I set the ports on the switch to Trunk 802.1q with native VLAN 99 (management) and allowed VLANs 99, 30, 60. I want the regular traffic on 30 and the guest traffic on 60.
I gave the APs management addresses of xx.xx.99.xx and you have to set the VLAN on the AP to 1 (the AP is going to see VLAN 99 as the native VLAN, i.e. VLAN 1.