If its vinyl, heat the section of vinyl you are working on for maybe 1 or 2 seconds with a heatgun, then peel from a corner gently. This should prevent the vinyl breaking up into little bits and should prevent it leaving much glue behind. It does take a while. If its reflective vinyl, give up now. If you heat it until it blisters, that wont help you much either. You can remove any left over adhesive with isopropanol, or get a couple of cans of “sticky stuff remover” from a DIY store. Spray on, leave for a couple of minutes, then agitate the glue with a squeegee or window scraper. You can then scrape this off into a cloth.
If you leave the side of the van you are stripping in direct sunlight, you might not need the heatgun at all. Its not like stripping paint. Vinyl goes brittle when cold, and the heatgun is to help prevent it breaking up as you remove it.