Phillip Potter, 19, and Matthew Gordon, 29, both from Dauntsey in Wiltshire, appeared before Bath magistrates.
Mitzi Steady, four, Stephen Vaughan, 34, Phil Allen, 52, and Robert Parker, 59, all died in the crash last year.
The case will be heard again at Bristol Crown Court for a preliminary hearing on 22 February.
Mitzi was walking with her grandmother in Lansdown Lane, Bath, in February 2015 when she was hit by the truck. The three others victims, from Swansea and Cwmbran, were in a taxi.
Mr Potter, of Little Middle Green Farm, has been charged with two counts of causing death by dangerous driving and two counts of causing serious injury by dangerous driving.
Mr Gordon, of Chestnut Farm, has been charged with two counts of aiding, abetting, counselling and procuring causing death by dangerous driving and two counts of aiding, abetting, counselling and procuring to cause serious injury by dangerous driving.
The 29-year-old is also charged with one count of dangerous driving.
Both men have been released on bail until the next court hearing.
Two men have appeared in court to face charges of death by dangerous driving after the tipper truck they were in killed four people.