Move a channel between Asterisk servers

We have two asterisk servers (A and B). Bob is on a call using server A. An inbound call comes in on server B and needs to be connected to Bob. The setup is backed by a PHP application that is aware that Bob is connected to server A.

Would it be possible to disconnect Bob from his existing call, move his channel to server B, and connect his channel to the inbound call? Basically, is it possible to transfer channels between Asterisk servers?

I hope I gave enough information. I will be happy to provide more if needed.

Thanks for your help!

Sorry… I forgot to mention that these are SIP channels.