I have a good friend who bought a panel van and built out cabinets, walls, floor, bed. He uses portable stove inside or out and BBQ outside with a built in camp sink (has a small bucket in the bottom). The bed has a fold up center that allows him to put the motorcycle right down the middle of the van.
Don't forget with a setup like that you can also use a Joe Hauler in the back to hold another bike. Get the one with the cam-loc and it stops it from wiggling, you can put a sport bike on it.
Lots of options with those new Sprinter style vans as well and they start out much taller than a normal van.