Audio in this video is cut, with parts of the recording omitted, see here for the full recording: https://youtu.be/Pbm-QJAAzNY?si=4Kkd8t8VEAsgHmJv&t=149

Timestamps from the video:

2:46 Truck requests crossing

2:51 ATC allows it to cross

2:53 Truck confirms

2:58 ATC: "Frontier 4195 stop there please"

3:02 ATC: "stop stop stop stop truck one stop stop stop"

3:15 ATC: "tower, truck one, stop, ..."

Crash probably a couple seconds later, wouldn't rely on the video for the exact timing.

So it seems that ATC made an error by allowing the truck to cross, and then the order to stop wasn't communicated clearly enough. I wouldn't place much blame on the truck.

Edit: Looking at some other videos with that audio, I'm also not sure if the video I linked represents the time between communications correctly, transmission at 3:15 may have been right after the one at 3:02. Anyway, the best thing is to wait for the investigation.

He asked Frontier 4195 to stop. By the time he asked truck 1 to stop they were entering the runway.