You can do this just using bash:
1- create fifo using mkfifo (you can create file too)
mkfifo mybuff
2- tail the fifo and pass each line to your executor (this will be kind of task server)
while IFS= read -r line
do
echo "Running: '$line' with bash"
bash -c "$line"
echo "Finished '$line' with exit code: $?"
done < <(tail -f mybuff)
3- Send your commands to queue for example (this will client requesting tasks)
echo 'sleep 10' >> mybuff
echo 'echo "hello world"' >> mybuff
echo 'my fancy command to be executed' >> mybuff
...
PS: You can simplify step 2 like example below but this will finish task listener when you send "exit" to your command buffer
tail -f mybuff | bash -x