Yes, you can. Any port forwarding has to be done to a static, or atleast reserved, IP. Thats Static in the LAN, and not to be confused with a static in the WAN (from your ISP).
192.168.0.1 > Basic > Network Settings.
Scroll down to the bottom and click on the little "Edit" icon next to each IP you want to forward to. It will show up in the "Add DHCP Reserveration" box above. Name it as you wish, and pick any IP from 192.168.0.100 to 192.168.0.199 (By default). Save and then Save settings and reboot. Then
192.168.0.1 > Advanced > Gaming
Now to the right of "IP address" there should be a drop down with which ever IP addresses you "named". Just create the same forwarding rule for each device you wish.
As for why port forward is needed if you have UPnP is somewhat complicated. Think of UPnP as a traffic light, and port forwarding as a overpass. Both direct traffic, but one has the risk of delaying traffic because of the delay inherent in the system. You probably know this all too well. When traffic picks up, UPnP can be a bottleneck.