Police say one person was hit in the hand during the shooting, outside the Audubon Avenue store.
The suspects were reportedly fleeing the scene in a black car when they collided with the ambulance.
Eyewitness News is told the suspects jumped out of the car and more shots were fired, causing the ambulance workers to duck for cover.
The suspects hailed a livery car and fled the scene. The livery car was last seen heading onto the FDR Drive.
One of the ambulance workers was taken to the hospital with a minor knee injury.
Officials say the person shot in the hand was taken to New York Presbyterian Hospital-Columbia for treatment.