You can use Chess.com's Classroom feature. If you want to use the Play server, you can click on the first dropdown menu (by default it will have "Standard" on it. Then click "Custom Position/Odds" to play any custom position you want against whoever you want. Hope this helps
Queenless games

Playing Queenless is an excellent training strategy. This is something I do with my players (I am a scholastic chess coach) to help my players gain confidence, learn to use their pieces and not fear exchanging Queens especially when they are ahead on force. We use that strategy to the point of having Queenless tournaments as well within the team. I wonder if a daily Queenless tournament could be set up here.
In practice mode you can make a custom position