We already have an OAuth2 authorization server set up, so I need to create a corresponding resource server (separate server). We plan to use the Spring Security OAuth2 project.
This is possible as long as the authorization server and resource server(s) access a shared tokenStore (e.g. using JdbcTokenStore with a common dataSource). You can just use DefaultTokenServices with a reference to your shared tokenStore. Below is an example Spring config which you should be able to tweak to fit your needs: