I have done this with the help of a web configuration.
You will need a Web database table to save the FCM Token and username for each device.
Username can be any unique thing you can get from any registration process you want or you can hard code that as well for testing purpose but FCM Token Id must be auto Generated you can find the code how to get it form web.
Every Device FCM Token ID is attached with the username and must be unique which will be used to distinguish between all the devices in web.
Now the Process will be--
sender mobile -> Server Having all the FCM token id (and code to send notification) -> Receiver Mobile
From sender device you call the server, sending it the message and the receiver's username.
Now at server side it will search its table and find the particular FCM Token id for the specific username you have sent.
Now it will send the given message to the device of that specific token Id.
Hope this will help you!