California Highway Patrol officers responded to the scene at 8:38 p.m. on the 14, near Puritan Mine Road, according to the agency.
Paola Rios, a Golden Valley High School student, said the school's volleyball team was returning home from a game in Palmdale at the time of the incident.
Four patients were being examined by firefighter-paramedics, the Los Angeles County Fire Department said.
Rios captured video of the bus engulfed in fire and published the footage on Twitter.
The cause of the blaze was unknown.