I'm not sure about Apple but on Android the only notification Signal gets is a "wake up" that tells it to go and retrieve a message from the server. There is also the ability to turn off displaying message content in the drop-down which I advise all to do.

So no, Google can't read your Signal messages.

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This doesn’t seem to be true. Signal message contents show up in the notifications on Android.

Yes, but it's not received unencrypted. It's only displayed locally. In addition, that setting can be turned off from within Signal. See screenshot: