The deceased were identified as Rajesh Kumar Sinha (25) and Ashok Yadav (30), Kotwa police station's Officer In-Charge A.K. Saha said.
The truck driver escaped after the accident, he said, adding that the vehicle has been impounded for investigation.
The bodies were sent for post-mortem, Saha said.
The incident sparked off a protest by the local people who blocked traffic on the NH-28 for several hours before senior officials rushed to the spot and assured compensation to the kins of the victims before the protesters called off the blockade.