Yes, there is. A fire engine has hoses, a water tank, a pump (to pump water) and a small assortment of ladders.
A fire truck usually does not have a pump, hose or water tank, and instead features a tall ladder fixed to the truck that extends over 100 feet of portable ladders along. Fire trucks also carry an assortment of other fire suppression devices. Most often, the public is referring to a "Hook and Ladder" fire truck that has a tiller-man who steers at the rear trailer section of the ladder.