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Internet of Things (IoT) is a concept that envisions all objects around us as part of internet. IoT coverage is very wide and include variety of objects like smart phones, tablets, digital cameras, sensors, etc. Once all these devices are connected with each other, they enable more and more smart processes and services that support our basic needs, economies, environment and health. Such enormous number of devices connected to internet provides many kinds of services and produce huge amount of data and information. Cloud computing is a model for on-demand access to a shared pool of configurable resources (e.g. compute, networks, servers, storage, applications, services, and software) that can be easily provisioned as Infrastructure (IaaS), software and applications (SaaS). Cloud based platforms help to connect to the things (IaaS) around us so that we can access anything at any time and any place in a user friendly manner using customized portals and in built applications (SaaS). Hence, cloud acts as a front end to access Internet of Things. Applications that interact with devices like sensors have special requirements of massive storage to storage big data, huge computation power to enable the real time processing of the data, and high speed network to stream audio or video. In this paper, we describe how Internet of Things and Cloud computing can work together can address the Big Data issues. We also illustrate about Sensing as a service on cloud using few applications like Augmented Reality, Agriculture and Environment monitoring. Finally, we also propose a prototype model for providing sensing as a service on cloud.