The DL380p is Intel and the DL385 is AMD. Can this setup work or do all server need to be Intel?

Whether this setup "works" depends on what you're trying to do with it.

Yes, you can install and run VMs independently on both, AMD and Intel x86/x64 hosts, you can even put them in a cluster and enable HA (if you have shared storage), but you won't be able to use live migration between these two hosts (which you can still use without shared storage since the introduction enhanced vMotion in ESXi 5.1).

Essentials Plus licenses on a setup that can neither utilize HA due to lack of shared storage, nor use vMotion for live migrations because of incompatible CPUs seems a bit of a waste to me though.