A., your boys need their brain activity to slow down in order to calm down their bodies for a good night's sleep:
Pick out CHAPTER books that are calm but interesting: Charlotte's Web, Winnie the Pooh, Francis, Little Bear (boys LOVE Little Bear). Tuck them into their beds ("the story won't start until you are both tucked in...") and sit by their beds and read aloud, slowly and softly.
Show them the pictures if you want to but don't let them touch the book - this is story time and they need to create the pictures in their heads.
Once they start getting into the story, they will RUN to bed looking forward to finding out what happened at Little Bear's birthday party, or whether or not Winnie the Pooh found the North Pole.
They will fall asleep before you are done reading for the night, of course. So pay attention to them while you read so that you remember where you left off.
Then, make a trip every week to the library to seek out new and better bedtime stories, giving you something to do for fun when they are awake that will also stimulate them to know when it is time to be quiet and respectful.
If one falls asleep before the other, you can keep reading or sing him a sweet bedtime song. Mom's bedtime songs are the best! If you feel you can't sing, bring a tape/cd player into the room and put on quiet word-free music. He'll love falling asleep with the music and the images of his new book friends in his head.
Also, get them into the habit of choosing one of their favorite stuffed animals or dolls to listen to the story with them in their bed so they have a story buddy. They may change animals/dolls with every story, or may choose the same one for an eternity. This will be the last thing they do before they climb into bed... knowing that their friend is missing the story will give them a feeling of importance and reverence.
Now THEY are in charge of someone else who NEEDS them in order to have their own good bedtime experience.