Which type of neuron carries messages from the cns back to muscles or glands in response to a sensory impulse?

The answer is sensory neuron. There are three types of neurons & their functions

Sensory neurons - carry impulses from the sense organs to the spinal cord & brain

Inter neurons - connect sensory and motor neurons and carry impulses between them

Motor neurons - carry impulses from the brain and spinal cord to muscles & glands.