Is there a way to put InDesign document on cloud so that two people can edit at same time from two different computers?
If you are talking about directly editing the InDesign Document at the same time, then no. That would be completely unworkable, as the two users would be overwriting each others changes each time they saved.
It may be possible to edit the text at the same time using InCopy, but I am not sure if that would be workable either.
No. InDesign creates a lock file when it opens a document, which specifically prevents anyone else from simultaneously working on the file. As noted by @SJRiegel, InCopy allows what's called a "parallel workflow" but only with text.
—Is there a way to put InDesign document on cloud so that two people can edit at same time from two different computers?
An Indesign file and its assets can be sync’d between two user‘s computers. Copy the InDesign file and its assets into your Creative Cloud Files folder, which by default is installed in your computer’s user folder. All files saved to that folder are automatically sync’d to your Adobe cloud server, and other users can be invited to collaborate, and in that case the files will sync to both computer‘s Creative Cloud Files folders.
To invite a collaborator click Creative Cloud web, which opens your cloud file directory. Navigate to the folder you want to share, and click the invite button to set up the collaboration.
When you sync folders with other CC users there is no Lock file to prevent the collaborators from working on the file at the same time. If that happens a confilcted copy of the file will be added to the directories, so communication is important.
A Conflicted Copy example: