There are two ways you can do this with current functionality. First you can use a separate channel for C and D and use a bridge.
Code:
<channel id="input">
<service-activator id="A" input-channel="input" .../>
<service-activator id="B" input-channel="input" .../>
<bridge input-channel="input" output-channel="async"/>
<channel id="async" task-executor="pool" />
<.. "C" />
<.. "D" />
You can also look beyond Spring Integration and use @Async (supported in Spring 3.0) for example to do asynchronous handoff in the services themselves.