It happened on a stretch in Tredyffrin Township, Chester County, on March 28.
Police say the trio used red and blue lights in a Chevrolet Suburban to pull over a driver in an attempt to rob him.
When the driver became suspicious, authorities say one of the men shot the driver.
A female passenger and 3-year-old child were in the minivan at the time, but were not harmed.
Roberto Morel, 51, and Terrel Adams, 38, have both been arrested and charged with attempted murder.
A third man, 21-year-old Tuften Green, remains on the run.