"Is it possible with only by
connecting the TX pin to other controllers RX pin"

No, many possibilities exist: IIC, SPI DPM port-to-port.
If you go serial - direct Rx-Tx if on same board, RS-232 if reasonably close, RS-422 if separated.

"please suggest me with an example code."
You will need to write your own code or hire a consultant.

Have fun,

Erik