The microscopic processes involving droplet impact and interaction on spatially curved surfaces remain unclear. In this study, we implement a dynamic contact angle model with adjusted upper and lower limits into a simulation of droplet motion, constructing a three-dimensional numerical model to depict the dynamics and heat transfer characteristics of symmetric double droplets impacting plane, concave, and convex cylindrical, and concave and convex spherical surfaces. The processes of droplet spreading, retraction, rebound, splitting, and heat transfer are elaborated, revealing the role of surface curvature during impact. Our results show that different curvatures significantly affect the flow morphology of the flow dividing line. For the two main curvatures of the surface, the curvature in the direction of droplet arrangement predominates. Positive curvature promotes spreading and repels the liquid phase, while negative curvature promotes agglomeration and attracts the liquid phase. Extreme situations arise when both positive and negative curvatures occur simultaneously. Regarding heat transfer, the overall heat transfer rate is mainly determined by the spread area, and the heat transfer performance of convex surfaces is better than that of plane or concave surfaces. Residual bubbles increase heat transfer inhomogeneity, but different surfaces do not show significant variability. Additionally, the heat flow intensity in the central interaction region has the following relationship with its rebound height and is independent of the overall heat transfer intensity.