We present a simple and flexible method to generate various vectorial vortex beams (VVBs) with a Pancharatnam phase based on the scheme of double reflections from a single liquid crystal spatial light modulator (SLM). In this configuration, VVBs are constructed by the superposition of two orthogonally polarized orbital angular momentum (OAM) eigenstates. To verify the optical properties of the generated beams, Stokes polarimetry is developed to measure the states of polarization (SOP) over the transverse plane, while a Shack-Hartmann wavefront sensor is used to measure the OAM charge of beams. It is shown that both the simulated and the experimental results are in good qualitative agreement. In addition, polarization patterns and OAM charges of generated beams can be controlled independently using the proposed method.