Effective communication of robot intentions is essential for safe and efficient human–robot teaming. Nevertheless, existing visual and auditory interfaces often fail to provide clear and shared situational awareness in dynamic environments. Current projection-based interfaces improve visibility but suffer from geometric distortions on non-planar or deformable surfaces and rarely support real-time, bidirectional interaction. This paper introduces a unified framework that combines intention awareness with touch-based query response to enable distortion-free, interactive projection in collaborative workspaces. The system dynamically visualizes robot intentions and allows users to respond directly through on-surface touch gestures. Experiments across diverse surface geometries demonstrate precise spatial consistency and reliable real-time responsiveness. Furthermore, a user study reveals notable improvements in intuitiveness, effectiveness, and overall user satisfaction compared with conventional graphical interfaces.