Both of your server should be using Softether server software. Depending on what type of tunneling you want to create, if you want a layer 2 tunnel, you can use cascaded connections and bridging. Read more: https://www.softether.org/4-docs/1-manu ... L2_Bridge)
You can also create a layer 3 tunnel using bridge connections and the Softether L3 switching. Read more: https://www.softether.org/4-docs/1-manu ... P_Routing)