Nuno Espirito Santo's side and Dean Smith's charges are now allowed to 'engage in tackling while minimising any unnecessary close contact' at Compton and Bodymoor Heath respectively.
An official date for getting the top fight back under way is still to be confirmed but 'discussions are ongoing'.
A Premier League statement read: "Premier League Shareholders voted unanimously to resume contact training, marking another step towards restarting the Premier League season, when safe to do so.
"Squads are now able to train as a group and engage in tackling while minimising any unnecessary close contact.
"The Premier League’s priority is the health and wellbeing of all participants.
"Strict medical protocols are in place to ensure the training ground is the safest environment possible and players and staff will continue to be tested for Covid-19 twice a week.
"Stage two of the Return to Training protocol has been agreed following consultation with clubs, players, managers, the PFA, LMA and the government.
"Discussions are ongoing as work continues towards resuming the season, when conditions allow."
It is welcome news for both clubs, who have recently been training in small groups of up to five but having to avoid contact.
Before that, they were having to train individually – working on a pitch each and arriving at staggered times throughout the day – after several weeks of doing sessions from home.