Police said the truck was at Tewksbury Drive and Unicorn Court in the Fox Mill area about 9:45 a.m. on Monday.
The suspect displayed a knife to the employees and caused damage the truck, police said. The suspect fled on foot but was located by officers and taken into custody.
The suspect, Todd E. Jones, 40, was then charged with assault and destruction of property.
In other crime news reported over the weekend:
A resident of the 2600 block of Iron Forge Road reported someone entered the residence and took property on Friday, March 27.
11800 block of Baron Cameron Avenue, merchandise from business.
2300 block of Hunters Woods Plaza, beverage from business.
11100 block of South Lakes Drive, beverage from business.