The accident occurred around 1.50PM when the truck jumped a manned crossing between Hameergarh and Soniayan stations near Takhtpura and rammed into the train, police said.
The driver of the Udaipur-Ajmer passenger train sustained bruises from broken glass panes of the engine cabin, but continued the journey after a brief halt at the accident site, a railway spokesman said in Jaipur.
The deceased have been identified as truck driver Madan Gurjar and cleaner Gopal Gurjar, a police officer said.
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