Delegating responsibility within a firm

Two entities A and B form a company XYZ pvt ltd. can it be done such that A and B are delegated certain responsibilities and any liability arising out of mis execution of these responsibilities, would lead to entitlement of such liability on A or B respectively rather than the company XYZ (In which case both A and B would be equally liable). Can such a MoU be drafted and would it stand in the court of law.