The incident took place this morning when the truck driver lost control over the vehicle and it collided with a stationary truck, police said.
Ghanshyam Gaur (25) and Mohan Sharma (26), who were in the moving truck, were killed on the spot, they said.
The three injured, including a woman and a child, were rushed to a hospital, they said, adding that their condition was stated to be stable.
The bodies have been sent for postmortem, they said, adding, an investigation is underway in the matter.