ESP8266 - Two-way communication via TCP server in Arduino IDE

Hello,
I have a small question. I want to transfer data between two ESP8266. The working principle is supposed to be trivial. The ESP is supposed to react to a button being pressed and send data to the other ESP. The only thing is that this is supposed to be done both ways(there is supposed to be a button for each esp) From what I have read I would like to program this in the Arduino IDE. I just have a question if my concept is right. If I set up a TCP server on both ESPs, can communication be two way? Or is there another method to do this? I am not looking for a ready-made solution, just hints.
Thank you in advance for your answers.

And why a TCP server and an arduino? You upload the program directly to the ESP, do the communication on UDP and the matter is settled.

I was more concerned with programming the ESP itself using the Arduino IDE, unless there is a better method?
That is, I just need to create a UDP server on the two ESPs, should there be a server on one and a client on the other. Just not sure if it is then possible to send something from the server to the client?
I think I'm a bit confused.

All you need is NodeMCU and a few lines of code in LUA.

1. Yes ESP8266 is nice to program in Arduino.
2. On each ESP you create yourself an udp "server" (listening) which does not conflict with the same esp transmitting something over UDP for others.

Thank you for your help.
I have already tested the communication over UDP using AT commands and everything works as I would like it to.
Now I just need to port it to an arduino, but I need to brush up a bit as I've never written anything on an arduino.

You don't have to look far, here an example of communication between 3 ESPs written in Basic ESP.
even cooler example ESP ESP