Cloudflare tunneling / routing

I have 2 servers, each connected to my Cloudflare Tunneling account with their own tunnels using cloudflared. One server has public hostnames, the other server is like a “dev” server. How would I go about making a PRIVATE tunnel between these servers so that the “dev” server can reach the resources on the other server. If possible, as in ded as you can! Thank hyou.