I'm not sure this routing/directing can be done within DDWRT without doing something like changing the public port for the second server. Example, if server one is listening on TCP port 80 by default, make the second one listen on TCP 8080. In that regard, having a separate DNS domain name doesn't really matter. You can simply access each server at example.com or example.com:8080
If both servers are web server, another option may be to take advantage of Server Name Indication (SNI). Where you can host both domains on a single server, but have them listen/bound to different DNS domain names. This can be done in most web servers (Apache, IIS, etc) however, if you are using HTTPS SSL sites, you can be limited with IIS unless you are running server 2012 or newer.
The only other thing I could think is some kind of reverse proxy setup in something like Apache. Where it receives a request and pushes it to another server. See: Reverse Proxy/Gateway
(EDIT)
If trying to do this with regards to FTP and SSH, you will likely need a more advanced router/firewall setup than DDWRT on a home device (unless there is some kind of optware package that enables this)
You might be able to set this up with one of the dedicated firewall/router setups like smoothwall. Otherwise a commercial device like a sonicwall or cisco should allow you to do the port forward based on the HTTP header in the application data