You want to avoid all vapour from cooking, wet clothing, breathing etc from reaching the inside of the external paneling thus avoiding condensation and later corrosion.
It depends on what type of insulation your using.With Kingspan type insulation it's not nessesary as its foil backed both sides.If your using wool type then yes.
I found that you end up with the odd gaps here and there due to the general van shape/ribs/arches etc which I filled with spay foam. As the single can spray foam is open cell (porous) then I figured i'd belt and brace it.