Well, there is no reason whatsoever that this wouldn't work, but I'm not convinced on it being an efficient way to get heat unless you can insulate adequately the water lines from the exterior cold zone. The weaker the R-Factor between the tubing and the exterior floor will mean a lot of heat is going to be wasted in the wrong cavity.... the outside !
If you take in-floor hydronic heat in your average home, your not usually dealing with a lack of space under the tubing, space that is either basement, or at minimum, an area with enough room for adequate insulation.
A Van simply is not going to give a person much room to pull this off properly. Off the top of my head, I'd think I would want about 4" of insulation UNDER the tubing so that the heat is maintained inside the vehicle. I have a step van with much higher side walls than a van, and I would shutter to think about giving up 4" for insulation, 1/2" for tube and 1/2"-3/4" for a floor on top of that.
Now there IS closed cell expanding foam specifically for the EXTERIOR... like under coaches and large Rv's. I dont think it is a DIY project though, you have to go to someone who does it. I would love that under my step van, and a step van is a lot more "organized" underneath to actually accomplish this than your average van. Unlike a step van which often has "C" Channel that runs across the top of the frame rails making a perfect GAP for such a foam spray, the traditional van has a whole lot of "attachments" to the floor itself making it rather "hit or miss" on both placement and thickness.
It can be done, but, I think it will be inefficient without adequate insulation.