Phillip Potter, 19, of Dauntsey, Wiltshire has been charged with causing death by dangerous driving and causing serious injury by dangerous driving.
Matthew Gordon, 29, from Dauntsey, has been charged with aiding and abetting and one count of dangerous driving.
Mitzi Steady, four, Phil Allen, 52, Stephen Vaughan, 34, and Robert Parker, 59, all died in the crash.
Mitzi was walking with her grandmother on Lansdown Lane, Bath, when she was hit by the truck. The three others victims, from Swansea and Cwmbran were in a taxi.
Mr Potter and Mr Gordon have been released on bail to appear before Bath Magistrates' Court in January.
Two men have been charged over a tipper truck crash in Bath which killed four people in February.