If you drive their truck and get in an accident the injured party can go after you as well as the truck's insurance company ... please talk to a labor attorney before doing anything you may regret later.
And you don't get a "paycheck" if you are not an employee and that is the issue. If you were an employee then their insurance would cover you driving their truck but as an independent contractor you are also liable for any accidents ... you would need to have a good insurance policy of your own so aside from that expense you would also not be eligible for any other employee benefits including health insurance , paid time off and workman's comp ins. so weigh all your options carefully.
