No, I don't think it's possible to have contracts with two types of summons.
Pain was obviously an exception because of his Rinnegan.
Sasuke had the ability to summon Manda likely because he absorbed Orochimaru into his body which practically gave him most of Orochimaru's powers.
After Orochimaru was extracted from Sasuke's body by Itachi, Sasuke showed that he could summon Hawks in his fight with Danzo. He probably made a contract with them some time prior to the fight.
As to how he got a contract with them we don't know