A Team Board is simply a Scrum Agile or Kanban Board which is included in a Program. 

This view is designed to facilitate a conversation between two or more teams, working out how best to schedule work based on the desire to fulfil the Feature outcomes of the Increment. To add another team/s to your Team Planning View, click on the Teams button to show all of the team's within the Program, and select the name of the team. The team will now appear on your Team Planning View, ready to create dependencies with. 

To create a dependency, simply drag and drop an issue from one team, on-top of an issue from another team.