Yes, you can use minikube the Minikube install for single node cluster. Use kubeadm to install Kubernetes where 1 node is master and another one as Node. Here is the doc, but, make sure you satisfy the prerequisites for the nodes and small house-keeping needs to done as shown in the official document. Then you could install and create two machine cluster for testing purpose if you have two linux machines as you shown two different IP's.

Hope this helps.