Either something that they're driving is drawing too much current (although a circuit breaker should catch it)
OR you're severely over-charging them (are they hot while driving, or while attached to shore power?)
IF on shore power:
disconnect now
It's also possible that one has warped plates in a cell... that will lower *that* battery's "full" voltage to 10v,
and then the other battery (if they're wired in parallel) will proceed to try to "charge" it... leading to over=heating in both.
You MUST disconnect the batteries... unbolt at least one post connector from BOTH batteries.
If the batteries are overheating, they can (will) boil and perhaps release various sulfurous gasses and hydrogen.
The
hydrogen can create an explosive situation. Open the van's doors for immediate and massive air-exchange.
DO NOT OPEN THE CELL CAPS and look in... boiling sulfuric acid would be more than happy to aim for your face and eyes.
--dick