I believe it is not possible exactly in the way you want, but you could work around by defining agents at the stage level:

pipeline {
	agent none

	stages {
		stage('A') {
			when { /* some condition */ }
			agent {
				label "node_name"
			}
			steps {
			    sameCodeForBothStages()
			}
		}
		stage('B') {
			when { /* some condition */ }
			agent {
				kubernetes {
					cloud 'cloudName'
					namespace 'NameSpaceName'
					label 'AgentLabel'
					inheritFrom 'agent'
				}
			}		
			steps {
			    sameCodeForBothStages()
			}
		}
	}
}

void sameCodeForBothStages() {
    sh "echo 'Hello'"
}

The obvious disadvantage is that two separate stages will show up in the pipeline view.

To avoid duplicate code on both stages you could call a function like I did in the example.