If they have the same axle, yes. If the '01 is a HO 6spd truck with a 4. 10 dana 80 and the '02 dually also has the Dana 80 rear, then you can swap them for sure. You would have to set the gears back to the same pattern that they were running when installed in the other housing.
I'm not exactly sure, but if the spring perches are the same width between the 2500 and 3500, then I would just swap the entire axle housing and then swap the hubs. That way you don't have to mess with resetting any of the gears. You shouldn't even have to bleed the brakes again because all you have to do is wire the calipers up out of the way while you have the axle out and then bolt them back to the new axle.
If I'm really wrong on this, someone please correct me. I've never owned a 1 ton Dodge.