The issue was in the fact that the DeviceB had some kind of filtering and only allow pairing of devices which Bluetooth class is phone or computer. To check the Bluetooth class of your device: hciconfig -a

My device didn't met such requirement so I needed to manually change the Bluetooth class: hciconfig hci0 class 0x59020C

After this command, the both devices shown the Pin code and yes/no option. More about Bluetooth class on: https://www.ampedrftech.com/datasheets/cod_definition.pdf (wait little bit to load).