I would not use a camping style propane stove inside a small minivan, because they put out a considerable amount of heat when cooking, and your low headliner and nearby surfaces will get hot AND splattered with cooking oils.
If you arrange it at the back or side, so it's vented to the outside as you cook, with the hatchback or doors open, that will probably work.
In a large van with better airflow and more room, as well as wood or other smooth, cleanable surfaces, it will work out OK, as long as you have ventilation and room for the heat to dissipate.
Now, having said all that, I have seen it done, and some vanners are using the small butane stoves inside a small van and doing just fine.