Is this true? The van mentioned, the Chrysler Voyager, gets about 22mpg. The Subaru Forester (mentioned elsewhere as an example SUV) gets about 28mpg. The Forrester is about 3600 pounds, vs. 4300 pounds for the Voyager.
The vans made by US companies for US markets are gas guzzlers, but the ones made for other markets are better. For example, Ford S-Max sold in Poland gets 37 mpg, and is larger than the Forester.
Looked into this a bit. S-Max is a hybrid minivan, so gas mileage won't compare with Forester, but otherwise, they seem oddly identical.
S-Max vs. Forester
Curb weight: 3626 lbs vs. 3620
Mileage: 44 mpg vs. 30 mpg
Cargo: 77.69 cubic feet vs. 74.2 cubic feet
So about 6 pounds heavier and 4 cubic feet more space than the Forester. It would be interesting if we had a hybrid Forester to compare with, but that doesn't seem to exist (yet).
Also looked into U.S. vans being gas guzzlers. A comparable vehicle in the U.S. is the Toyota Sienna, since it's a hybrid minivan. It's 4700 pounds, gets 36 mpg (vs. 44 for S-Max), but has 101 cubic feet of cargo space, which is 1/3 more than the S-Max. Seems to correlate well with weight, which makes sense.
Based on this, my (current) take is that mid-size SUVs in the U.S. are equivalent to these smaller minivans elsewhere, and U.S. minivans are a bit larger and heavier than that.