Custom Post Type Related Posts from another Post Type

Hi

I’m just starting to get to grips with custom post types and I’m looking for a way to display related posts on the single.php from another post type.

I’ve got two post types set up and each has the same set of custom taxonomy. Is it possible to get the taxonomy from the current post, but then display related posts from the other post type with that same taxonomy name?

I’m driving myself insane looking for an answer and I’m not even sure if this is possible.

Thanks