The incident took place around 10.45 AM. While three persons died on the spot, the fourth one succumbed on way to the hospital.
The deceased have been identified as Janki Lal Meghwal (35), his sister Manphulabai (40), and two nieces Dalibai (18) and Vishnubai (14), all residents of Kishanpura village of Baran district, said Abhay Singh, ASI at Bapawar police station.
The bodies have been sent for post-mortem, he said.
The driver of the passenger bus fled from the spot after the mishap, he said, adding the flames were controlled in time and the situation is normal now.
A case against the passenger bus driver would be lodged in this connection, the SHO said.
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