Yes, set each machine to listen on a unique and set port forwarding on your router accordingly. Use the default 3389 for one and change the other to 3390.
Alternatively (it gets slower, but works), you can 'daisy chain' the connections. Remote Desktop into machine1 (on the standard 3389), then use that machine [remotely] to Remote Desktop into machine 2 (still using the standard 3389). I've gone 3 levels deep this way. It gets slower each time and you need to pay attention to which machine you're actually viewing, but works without any configuration changes to the router or RD hosts.
PS. RDP means "Remote Destktop Protocol". This is the underlying protocol used by the Remote Destkop utility, Remote Assistance utility, and Windows Terminal Server. So, the way that you used it originally is not incorrect and could actually apply to any of those programs, but I figured that you meant the actual RD program/utilty.
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