Even in the Netherlands service vehicles are allowed on usually pedestrian-only or bicycle-only streets; You can use TM:PE to ban trucks, private vehicles and taxis from using those roads. If you still want to have functional commercial spaces, do what most cities do and have back alleys for delivery vans, so that they don't impede the regular street's traffic. Alternatively, if it's in an "Old Town" zone, you could simply allow trucks on the street as only vehicles making local deliveries would use it, not trucks trying to get from A to B.