Whether or not it's possible isn't known. Many people believe that it is, and there are even a lot that say they're sure of it (for instance because they've experienced it). Then again, a lot of other people say it it's impossible, and nothing has been proven for as far as I know.
Personally, I choose to believe in supernatural phenomena like this just because I think they're cool ^.^ (although I'm afraid it probably isn't actually possible).
As for having to discuss it beforehand or not. I have read about one experience at least where two people shared (almost) the same dream without discussing anything before it happening. Usually though, people who want to try sharing a dream decide on some kind of "password" in the dream they're having, to be able to test if they were both having it.
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