They injured a 50-year-old security guard, Subhash. Since people had gathered there, they fled the spot.
The incident took place at around 3.30 PM when the cash van was roaming around the Singhu border area collecting cash from various liquor vends, said a senior police officer.
The vehicle was parked outside a liquor vend and two persons had gone inside the vend to collect cash while Subhash and the driver were in the van, he said.
Two men on motorcycles, with their faces covered, came near the van and asked the two occupants to part with the cash, said the officer.
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As people started gathering there, the accused fled the spot towards Haryana.
The incident has been captured in CCTV cameras installed nearby. Subhash is out of danger now, the officer said.
Police said that the van contained cash of Rs 25-30 lakh. It is suspected that the accused had been following the van from a distance. Police are questioning the employees of the cash van firm to probe whether any insider had leaked the information.