add custom tags for custom post type in wordpress

As you have already pointed out in your question, custom taxonomies are the way to go here. For this taxonomy to behave like the build in taxonomy post_tag, you need to set the hierarchical parameter to false.

To make these taxonomy available to only your two specific post types, you need to specifiy this when registering your taxonomy.

Example

register_taxonomy( 'taxonomy_name', array( 'post_type_1', 'post_type_2' ), $args );

The codex (register_taxonomy) have a lot of good examples how to register a custom taxonomy. If you still get stuck after this, you should update your question with your code and exact details where you are stuck