Robert Young and Mark Rubinson are charged with abusing a corpse, identity theft and criminal impersonation.
It is unclear how their friend, Jeffery Jarrett, died, but Young and Rubinson are not charged in his death.
The Denver Post reported the men left the corpse in the car, went into a bar and ran up a tab in Jarrett's name Aug. 27.
They later dropped the body off at Jarrett's home, then went to a strip club where they used Jarrett's ATM card to withdraw $400.
They then reported his death.
The Denver District Attorney's Office said Young posted a $2,500 bond and was scheduled to appear in Denver County Court for a preliminary hearing on Sept. 27. Rubinson posted a $3,500 bond and was scheduled to appear in Denver County Court on Oct. 4.
The Associated Press contributed to this report.