I love the idea of a tofu van! We have many, many, food trucks in Austin, but they're for prepared foods. If I could get fresh tofu delivered at a reasonable cost I would be very happy.
Home production of tofu is possible, just not at all simple. It's very time-consuming, and getting the equipment and consumables to make it well would add up to a not inconsequential sum. I plan to try it someday, but not while I'm living in a travel trailer (very small kitchen, very little spare storage for supplies).
Seitan is definitely the easier of the meat substitutes to make at home; only takes an hour and a half, only 20 minutes of which is prep time, the rest is simmering, boiling, steaming, or baking. I just made a seitan roast, with stuffing and mushroom gravy, for Thanksgiving. I posted the recipe because a friend asked me to: http://foodcite.org/recipe/seitan-roast-a-vegan-turkey-alter...
I've also used the Post Punk Kitchen seitan recipe: http://www.theppk.com/2009/11/homemade-seitan/ (I recommended reducing the soy sauce dramatically, as it's just way too salty, when following the recipe exactly; also I use about half the recommended amount of boiling broth for twice the amount of seitan. It's just hard to use up that much broth before it goes bad in the fridge. I usually make gravy and maybe seitan and dumplings with the remaining broth.)
I still haven't figured out how to make Chinese style seitan, which is also really good and tends to have a very soft texture, while still being properly cooked (my seitan gets chewy, kinda roast beef-like or like a chicken breast, by the time it is finished cooking, no matter whether I'm boiling, steaming, or baking it). But, you can often buy it cheaply in dry chunks at Asian markets. Canned wheat gluten is also a common thing, and not very expensive.