There can be several possible reasons, i am not 100% if there are any specific mechanics concerning mortars... Generally, I am loading ammo "directly" from the truck only for tanks and such.
You can dedicate one soldier to moving ammo. Leave all his gear in the truck and fill up with ammo instead. Its a lot of micro management, but imo it pays off, since you can be sure you will only lose one man if something goes wrong, and you will not break any cover ( bags, barricades and such ) as you would with a truck.
You might need to "lift" your mortar team from firing position ( there is an icon for that ), before you can access a truck directly. Same goes for moving your mortar. It might also get "stuck" sometimes, even on a more or less even surface. Try to move it manually from the direct control mode. ( remember to lift it first ).
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