communicate the 2 ARM and PL ?

Dear all,
 
 I am working with zed board(ZC7020) and i have a question in my mind.The question is "it's possible to implement a simple communication read / write from the 2 ARM processor's and the PL" ?
                   In other way, i want to make the first ARM write something into the PL ( maybe via a register ) using the AXI bus, and the second ARM will read this message and print it on console. I hope it is possible but i don't know how to proceed to achieve this. if some one tried this before suggest me with a document or reference design?