Immersion heaters
The point of heating the water in the tank over noght is your van tank will act as a big radiator stopping any piping in your van freezing (whilst also having warm water whilst working)
I dont think heating the water in your ibc and then transferring it will stop the pipes freezing in your van over night, as the water will lose too much heat (you'd probably need to run it through your system to help stop the pipes freezing but i still think your pipes would freeze)