The crash happened on 19th Avenue and 42nd Street just after 8:30 a.m.
The 84-year-old driver of a Toyota Corolla, who has not been identified, was taken to Elmhurst Hospital where he was pronounced dead.
Investigators say two male pedestrians, ages 41 and 70, were standing by the truck and were struck.
The 41-year-old was pronounced dead at the scene and the 70-year-old was taken to the hospital where he was pronounced dead.
Eyewitnesses said the vehicle was speeding before slamming into the parked coffee truck.
"Must have been going at least 60+ miles an hour just right through the stop sign and within seconds I heard the crash and screams and just dropped everything and ran over there, it was instant," witness George Giakoumis said.
Police say the Toyota spun around after the impact and collided with a Volvo which was attempting to make a U-turn.
Giancarlo Caruso owns the food cart and said he was just closing up shop when he heard the screeching tires.
"I didn't even look back when I heard the tires and heard the screeching, I just actually stepped back, it was like an angel had moved me honestly," Caruso said. "My truck is totaled but I still have my life. I'm just grateful something moved me out of the way."
Caruso said he knew the 41-year-old victim very well, remembering his kind heart and his contributions to the community.
"He's always supported me. He pays for so many people out here," Caruso said. "Every time people come out, he pays for them. He was super generous. Really nice guy."
That victim's brother identified him as Joaquin Venancio, a father of two. Eyewitness News was told Venancio was the manager of Astoria Discount Tire, where he worked with his older brother Abelardo Venancio.
"He's the best brother. The best person you can find in the world," Abelardo Venancio said.
The two took turns getting coffee and breakfast from the food truck across the street.
"This morning, it was Joaquin's turn. He never made it back," Abelardo Venancio said. "He's always a good person. Always likes to help everyone."
Venancio's family said this tragedy should serve to make the streets safer in an area prone to speeding and racing.
As for the 70-year-old victim, family members identified him as Santiago Baires. They say he was a father of eight children, and 14 grandchildren, whom he adored. He was a customer, getting his vehicle fixed, when he decided to grab something from the food truck too.
One of the sons remembered his steadfast work ethic to support the family.
"Hard working man. Landscaper. Always working," said the 70-year-old victim's son.
The wreckage has since been cleared, making way for a memorial for the victims on Tuesday night.
There's no word yet on why the driver crashed into the truck.
----------
* More Queens news
* Send us a news tip
* Download the abc7NY app for breaking news alerts
* Follow us on YouTube