The quick answer to your question is no, it is not safe to carry propane inside your van. Many people do it, myself included at times. However, there are things you can do to make your unsafe-ness a little less unsafe (or more safe), like using a sealed and vented box. If there is a leak while you are asleep, and with that amount of propane... you die. Place it in a sealed the box that vents outside and you live. It's that simple.
I would consider how much propane you really need on hand. 20 lbs (or 4-5 gallons, roughly) is a *lot* of propane for a van. You have no water heater. No furnace. Only a stovetop, right? It would take you months (literally, months) to burn through that amount of propane with just a stove. I burn through 1# of propane each week in my van, and I have a
huge stove/oven combo that burns through more propane than a normal stovetop. My previous stove, I would burn through 1# every three-four weeks.
Have you considered a smaller tank? The
5# tanks will still get you by for an entire month or two and you can still buy the propane at bulk rates instead of the single 1# canisters. They will be easier to stuff into a van (or mount outside) and a lot safer if there is a leak (or impact).
Personally, I opted to simply dump all the bulk-tank options. I'd rather have the space inside my van for other things and keep the interior on the safer side. A gas leak while I sleep has always been on my mind, and without large tanks inside I sleep better. I've kept my cooking system on the 1# canisters and carry my extras up top (outside) in a bin. Yes, I am paying a premium for my propane, but honestly I hated finding bulk propane shops anyway. The convenience and safety of the 1# cans override the extra costs... for me.
The problem with those one pound bottles is they can kill you just as dead as a 20 pound. One pound is more then enough to blow-up a van and likely displace enough oxygen to kill you if it just leaked. The valves on the one pound cans are known to leak and are frankly cheap. A twenty pound bottle is extremely robust, people have tried to use them in cognition with bombs only to have the 20 pound container survive intact. The case I'm familiar with a guy who wanted to get rid of his pregnant girlfriend placed a bomb under her house in a crawl space and surrounded the bomb with several propane tanks. When the bomb exploded it lifted the house of it's foundation but none of the propane tanks ruptured.