Answer:
Ask one of the guards: "If I asked the other guard which door leads to heaven, what would he say?"
Here's the logic behind this question:
* If you ask the honest guard, he will correctly tell you what the lying guard would say, which is the door to hell.
* If you ask the lying guard, he will give you the opposite answer of what the honest guard would say, which is also the door to hell.
Therefore, regardless of which guard you ask and whether they are honest or lying, the answer you receive will always be the door to hell. So, the other door must be the door to heaven.