A hotel shuttle van is a service that my company requires them to provide (by contract) otherwise, they would find another hotel or get a company car at that location.
On that note, I do not tip the van drivers. Regardless of their pay, it's a job and it has a paycheck, just like my job. We both are "at will" employees and can leave the job at any time. I agree that the tipping culture accepted in our society these days has gone a little too far.
Now, on that note, I am NOT like Mr. Pink from "Reservoir Dogs". I don't choose not to tip because I don't believe in the merit of monetary gains for good work. If a tip is earned (doing things that are above and beyond the required), I will gladly pay it. If the hotel is SWAMPED, it is a blizzard outside, the guy gives up his lunch break to give me a ride to somewhere other than the airport, they have sure as crap earned a good tip and I will gladly tip him. However, even $2 a day on a monthly / trip basis will result in another detraction from my paycheck if I do it for EVERY driver and, since my company does not reimburse van driver tipping, I do not tip them unless it is darn well earned.