Antonio Wiley, 56, was struck around 3:30 p.m. at the intersection of Route 129 and Lalor Street.
He was hit by a truck driven by Duane Bennett, 42, of Cream Ridge, New Jersey, police say.
PHOTOS: Crossing guard struck and killed
Janette Mendez tells Action News the red truck was traveling north on Rt. 129 and struck her car as she turned on Lalor Street.
"I was making a left because I had the green light, the red truck was coming down Route 29, speeding, was going to hit me. I put my foot on the gas and he hit the back of my car," Mendez said.
Witnesses say the impact sent the truck into the crossing guard.
"Hit that car, kept going, and hit the guard," witness Jeffrey Bakos said.
"The first thing I heard was that loud noise, a big bang, it sounded like a truck accident and when I went around, I noticed the red truck hit him, must have knocked him like 200 feet. I had just got done talking to him," witness Richard Negron said.
Bennett is charged with causing a death while driving with a suspended license and, police say, more charges are possible.