Yes, there is a way. Just one of you must create a story first chapter, than in setting add other autor as same position as he and here we go.
When making a story, there should be a bar at the bottom such as this. Type a name in the Username, configure their status if you want, press the + button.
Thanks for it was his idea and he blessed giving me permission to write it and I want make it it’s own story and not a chapter on my story.
It could be that the first owner (the one who actually created the story) can't be removed from being an owner by an added owner. I haven't tested this locally, so I'm not completely sure about this.