@Vikram Thanks for reaching out. Azure Service bus works on the pull model i.e. where client's need to pull the messages from service bus to consume it.
To answer your question:
Is it possible for the trigger from Service Bus topic to communicate back to the on-premise if the Worker has subscribed to it?
Service bus works on pull model so your on-premises application needs to keep polling the service bus entity for any new messages.
Another option would be to use Azure Files and drop JSON Messages there but I think the Service Bus would be more performant than the Azure Files approach.
As your on-premise service will be on restricted network, so in case you are using service bus or any other azure services (azure relay etc.) then you need to whitelist the IP address or azure data center IP at your on primes end. The better solution would be using the azure relay in this case where your on Premise service can communicate with your public cloud. Either you can create hybrid connection or WCF service to communicate between your on premises service to web application in cloud.
For more details you can refer to different sections on tutorial and samples.
Feel free to get back to me if you have any queries or concerns.