If the two drives are already partitioned (but not yet RAIDed), then you can RAID a partition on one drive with a partition on the other drive. For example, I have two 300 GB drives each of which are partitioned into three volumes: 172 GB, 50 GB, and 50 GB. I have a striped RAID created with the two 172 GB slices. I have a second mirrored RAID that uses two of the 50 GB slices. A third, striped, RAID uses the remaining 50 GB slices on each drive.
Note that if you have installed OS X on one of your volumes or drives, then you cannot create a RAID with it. You must first create a blank RAID, then install OS X.