Yes you can, but you need to use different ports, Suppose you want to have two URL's , one on port 80 and other on port 81 to the global ip A.B.C.D, then configure like this
static (inside,Outside) tcp A.B.C.D 80 192.168.1.10 80
static (inside,Outside) tcp A.B.C.D 81 192.168.1.20 80
access-list out-in permit tcp any host A.B.C.D eq 80
access-list out-in permit tcp any host A.B.C.D eq 81
access-group out-in in interface Outside