As milly says - you are legally permitted to cut the overhanging branches back to your boundary (level e.g. with your fence or wall), and either offer or give him the branches back, as the branches and any fruit remain the tree-owner's property. There is no obligation (IMO) on the tree-owner to pay for the work, as some people may like trees hanging over, others won't.
there was a thread on here a few weeks back where someone had cut right back to the trunk on a neighbour's tree and that meant they'd had to lean over the fence to do it - that counts as trespass. Stay level with your boundary and it's OK.