Yes, there is nothing to stop you using multiple DHCP servers in one
workgroup or domain (other than authorisation). There are, however, some
considerations.
DHCP works on broadcast traffic; you should only really use multiple DHCP
servers on the same subnet with a supernet. Or simply following the 80/ 20
guidelines.
A supernet and the 80/ 20 split require all scopes defined, but the opposite
scopes must be disabled. For example, with a C-class net such as
192.168.100.0/24 you could implement something along the lines of:
Server-A - 192.168.100.1 - 192.168.100.250
[Exclude - 192.168.100.201 - 192.168.100.250]
Server-B - 192.168.100.1 - 192.168.100.250
[Exclude - 192.168.100.1 - 192.168.100.200]