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Is there a shared database between these 2 servers? If so, you can pass the session data through that, and just need the session id, which can then be passed in any standard fashion.
Yes, there is a shared database, however I am a newbie to PHP and while looking at the session doc saw mention they could be shared but did not see it as out of the box explicitly. e.g. Do I need to be careful of duplicate session ID's., is there any exclusivity issues with the table etc.
the probability that the machines generate the same id is quite slim, but if you are concerned about it, you could (potentially) select a UUID from MySQL (4.1.2 or later), or create your own somewhat synchronized way through some interserver communication.
As for exclusivity to the table, probably not as well, but that depends on the type of table/database you are using.