The convoy of some 25 vehicles came under attack after it got stuck in a traffic jam in Landi Kotal town in the Khyber tribal region.
"At least three unidentified gunmen opened fire on the convoy, killing a driver and his helper and damaging two vehicles," senior local administration official Shakil Burki told AFP.
He said the gunmen fled after the attack, adding that one person in the convoy was also injured.
A senior local police official confirmed the incident and casualty toll.
There was no immediate claim of responsibility for the assault, but Pakistani Taliban have often attacked NATO convoys.
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Drivers are poor PAKISTANI'S. Why kill innocent while creating a problem for the women who are now left alone at home????