Using Zigbee and ESP8266/NodeMCU together for demonstration

Dear all,
I am working on a project where I have to use Zigbee and ESP8266 together to make a demonstrator. Is it possible to interface both with each other for communication? If not possible with ESP8266, can I use NodeMCU to connect with Zigbee? Please explain how the connection can be established with either option.
The idea of my project is as per below,
I want a sensor to send a message through Zigbee either to Arduino or ESP8266/NodeMCU. Then with this inputs received at NodeMCU , I want to drive a stepper motor and also to reflect the data online(this feature is optional).
Your guidance will be highly appreciated.