Town police Chief Tyree Davis said one of the men charged was familiar with the victim and money was the motive for the robbery.
Police were called to the scene at North McDaniel Street shortly after 10:15 p.m.
The victim told officers two men entered his residence, held him at gunpoint and took items from him.
The two gunmen fled the residence and ran toward the area of Cary Street.
Corporal C. Peaden and his dog, Lucky, were dispatched to run a track.
During the track, an officer noticed a man get into a vehicle parked in a yard where Lucky was leading.
As the vehicle left, another officer in the area of North Martin Luther King Boulevard was radioed and asked to stop the vehicle.
Sergeant Chris Exum and Officer Cameron Colbert stopped the vehicle and determined the men were allegedly involved in the robbery.

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They were identified as Cleveland Ballard III, 36; Kareem Thomas Bell, 27; and Jermaine Lamar Speller, 25.
Ballard was charged with possession of marijuana, accessory after the fact, and possession of stolen property. He received a $10,000 bond.
Speller and Bell were charged with robbery with a dangerous weapon, conspiracy to commit robbery with a dangerous weapon and first-degree burglary.
They both received $60,000 bonds. All have April 26 court dates.
Some of the stolen items were returned to the victim.