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
ip dhcp pool POOL-VLAN-100

I hope you guys can help. Regards, Lukas