The truck collided with a tanker heading to Bikaner about 10-km from Rajiyasar police station.
Both the vehicles caught fire after the massive collision, SHO of Rajiyasar police station Ganesh Kumar told PTI.
"One got charred in the fire while other died on the spot after falling from the truck. The injured has been referred to Sri Ganganagar in critical condition," he said, adding that the victims are yet to be identified.