(a) A municipality may contract with another municipality for one municipality to make an improvement to a part of a highway as provided by this chapter and for the other to pay a part of the cost of the improvement if:
(1) the boundary between the municipalities is on or along the highway or the edge of the highway; and
(2) the governing bodies of the municipalities determine the improvement is necessary.
(b) Either municipality may use its money for the improvement under the contract without regard to whether the highway is within the municipality’s limits.