Please post the IPCONFIGs of both servers.
Generally speaking, the DNS servers in one domain need to know where to go to resolves names in the other domain, and since the domains are internal (assuming) then the external DNS doesn't know anything about it (which is as it should be). You just need to tell each domain/DNS server where to go.
I typically use stub zones in this situation. Create a stub zone on the DNS server for DomainA that points to the DNS servers for DomainB. Create a sub zone on the DNS server for DomainB that points to the DNS servers for DomainA. After that they should be able to resolve just fine. What this will do is cause the DNS server in one domain to contact the DNS servers in the other domain any time that it needs to resolve a name. For smaller networks this is more than sufficient, but with larger networks it can result in a lot of additional DNS traffic.
In those larger networks you will probably want to use a secondary zone instead of a stub zone. A server with secondary zone gets a copy of the zone file from the primary DNS server so that it does not have to constantly query other DNS servers for the correct information, but by doing so you increase the chances of the zone data being outdated.
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