Ask either of the men who are in front of the doors: "If you were the other man, which door would you tell me leads to the 2 million dollars?"
The truth-teller, positioning himself as a liar, will say the door which does not have the 2 million dollars.
The liar, positioning himself as a truth-teller, will also say the door which does not have the 2 million dollars because he is a liar.