Telnet (TCP/IP) and HTTP server on same Arduino

Am using Arduino Uno and MKRZERO with Ethernet shields. Am able to run an HTTP server to serve a webpage for control of some analog and digital outputs. I would like to extend this functionality by adding a TCP/IP server so that am able to control the same outputs via an APP or Telnet.

Can I run both servers on either of my Arduinos'?

yes

Any pointers as to how can do that?

Is this it?

EthernetServer Telnet(23);
EthernetServer HTTP(80);
.
.
Telnet.begin();
HTTP.begin();

yes