I think this is what you're saying:
You'll have both a cable modem and a router at each house.
In each house, you'll have traffic flowing [interwebs] <-> [cable modem] <-> [WANint/router/LANint] <-> [house LAN]
You then want to run a dedicated line between each house's router so the two house LANs talk without hitting the (otherwise slow) internet.
More or less yes, but I plan to set up a static route between the two routers at each place with a third router. I do not presently have it set up like this. I'm just trying to test the static routing scheme with two routers at present.
First, quick, easy answer: if you just want to access the two servers, you can connect the LANs without any routing and bind two IP addresses - one from each LAN - to each server. Problem solved.
If you want full routing between two separate LANs, things get trickier.
I will need full routing because in addition to the 'real' servers with dual interfaces, I would like all PCs to be able to see all devices on the other network which may include IP cameras and shares on various PCs.
What hardware are you going to use for the fiber connecions? Will it support multiple IP addresses/subnets and routing?
Just a media converter on one end and a mini GBIC in a switch on the other. Nothing fancy.
Right now I would really just like to get static routes working like is described
here. I would essentially be doing the same thing minus the third router in the picture and stock Asus firmware instead of DD-WRT. I've followed their static routes and IP configurations exactly but it just doesn't work in both directions as stated previously. Once I get that sorted out I can worry about the rest of it.

Thanks for your help!
Stu