I have Lidar data in E00 files (interchange files). Can I overlay them on some maps like say Bing maps or Geoserver with OpenLayers?
If yes, what is the right way of doing it?
Your first step is to convert the e00 file to something useful. See:
Converting E00 vector data to shapefiles: a free and fairly painless approach, for details if you don't have access to ArcToolBox.