Yes I think it should work while I haven't test this so far. Create & configure ADFS server on the domain B, then create claim provide trust on domain A to make the domain A can accept the users' security token issued by domain B. Also consider the followings:
Network consideration: No matter the users of domain B access the claim-aware application from the Intranet or Internet. The Federation Service Name of domain A and domain B should be able to resolve correctly. If you are using WAP then the external federation service name should be resolved to the IP of WAP server. The Port 443 should not be blocked by the firewall.
Certificate consideration: The SSL certificates used in these two domains should be trusted on each domain and the external accessed clients.
More details about the ADFS requirements to get it works you can refer to docs here: