can i pair airpods pro with 2 iphone with the same icloud

Airpods can only be connected to one device at a time however as you are connecting them to iPhone(s) with the same Apple ID you can switch devices easily depending on which device you are using.

Set up AirPods with your Mac and other Bluetooth devices – Apple Support

You might also find the following steps helpful which allows you to share audio when using Airpods:

Share audio with AirPods or Beats headphones - Apple Support