Pretty sure the only way to achieve this is to request a 2nd IP from your ISP.
Reason being that you are wanting to forward all ports to two different machines. This isn't possible. The only possible work around with one IP would be to assign one server it's ports like http to 80, SMTP to 25, ftp to 21/22, etc. and the other server to respond to those same protocols on their non standard ports like http at port 8080, ftp at port 2121. In so on and so forth.
It's much cleaner getting two IPs from your ISP rather then trying to remember special port bindings on non standard ports. And, it also lets you connect to ALL ports, not just some.
Each ISP varies but my local cable co (Bright House) charges 10 extra a month for an additional IP.