It happened around 6 p.m. Sunday on the eastbound side of the bridge heading into Salem County, New Jersey.
Police say the RV, which was filled with marijuana candy, was en route to Philadelphia when it caught fire, sending flames and smoke into the air that could be seen from miles away.
Firefighters quickly arrived on the scene and placed it under control.
The five people inside the RV escaped unharmed.
Their personal belongings were destroyed, the organization told Action News, along with the product inside the RV.
All lanes were reopened around 9 p.m.
There was word on what sparked the blaze.
According to the group's website, Weed World Candies was founded in 1999 to promote the legalization of marijuana and hemp products.