ipv6 over an ipv4 tunnel

Hi,

I have two servers, both running FreeBSD 14.2

Server A has only one ipv4 address, no ipv6.

Server B has one ipv4 address and an ipv6 subnet.

Is it possible to give Server A an ipv6 address from server B ipv6 
subnet and ipv6 connectivity and how?

Gr.,
Jack Raats