It happened around 4 p.m. Friday afternoon at the intersection of Tyler and Virginia Avenues, according to Bensalem Police.
They said the dirt bike which is illegal on the streets, sped through a stop sign and crashed into a GMC Acadia.
READ: Bensalem police looking for one of two cars that struck, killed man
The teens who were not wearing helmets, were thrown from the dirt bike.
The 16-year-old dirt bike driver hasn't been identified. The 18-year-old riding on the back was kiled in the crash. He has been identified as Raymond Horner from Bensalem.
The driver of the truck was treated for minor injuries.
Officials are asking anyone with information on the incident to contact the Bensalem Police.