Have the horses always been like this?
The only advice i have is to take your time with them, i'd really work at it during the winter and then perhaps you can have them ready to box and go to shows in the summer???
Do a bit each day with them, like you said you have been doing.
Do the horses go out at all in the winter? If so, park the horsebox in the feild and leave it open, then put their feed inside and let them eat in there, gradually make it longer and longer each day, don't make a fuss, this can make the horse more wound up, just kind of go with the flow.
When you get the horse in the box, don't rush to put the strap across or you might frighten it, just let them take there time to look around and come out when they are ready.
When they seem comfortable going in and looking round and having a feed, then you could try putting the strap across, etc etc, just go very slowly.
I wouldn't advise doing both horses at the same time either cos then they may refuse to box without eachother and you'll have the same problem again when the time comes you only need to box one of them.
Hope this helps.