DHCP-Server for ipv6 and ipv4

I have to configure 3 DHCP servers for ipv4 and ipv6 so , that every device of each vlan gets an ipv6 and an ipv4 address. Is this possible ? I have a standard ipv4 server do I just have to edit it just a little bit ?

ip dhcp excluded-address 172.16.1.1
ip dhcp pool POOL-VLAN-100
network 172.20.0.16 255.255.255.0
default-router 172.16.1.1

I hope you guys can help. Regards, Lukas