There are two key exchange methods used with TLS (i.e. in HTTPS): RSA key exchange and Diffie-Hellman (DH).
With RSA key exchange it is in theory possible to pass the original traffic encrypted and but still decrypt the content as long as the private key of the servers certificate is known to the client. But this is not supported by haproxy and RSA key exchange is considered obsolete cryptography today anyway so it should better not be used.
With DH key exchange such passive content decryption is not possible by design.
What is possible instead and also supported by haproxy is to terminate the clients TLS connection at haproxy and create another one from haproxy to the target server. This requires haproxy to have both the certificate and the private key of the server. This will not work if mutual authentication is required though since haproxy cannot pass the original clients certificate to the server since haproxy does not have the private key for the clients certificate.