How do you share ports in VLAN?

I’m kinda new in the VLAN arena. I would like to setup the simplest VLAN- 2 totally separate VLANS that share 3 servers between them. I have the PowerConnect 2724 switches which are layer 2 switches. They support VLANS and Tagged frames. I can create VLAN2 but I can’t figure out how to share ports between the two. They stay completely separate. In research it looks like I need a layer 3 switch or a router. Is this true or can you do this with a layer 2 switch? Help is appreciated!!