The parents are believed to be heavy methamphetamine users and surveillance images were captured Monday of them at an Iowa hospital in LeMars.
Dakota Ray went missing with her parents from SC but authorities believe the couple may be in or on their way to Minnesota.
Police say they may be sleeping in the van and asking passers-by for money.
A missing two-year-old Camden girl and her parents were spotted in Iowa this week, almost a month after the family disappeared, according to a statement from the National Center for Missing & Exploited Children.
Dakota was removed from her parents' care for safety reasons and authorities have been unable to locate them, according to the Minnesota Bureau of Criminal Apprehension.
Investigators say they were later at a gas station in Marshall, Minnesota that same day.
They are believed to be traveling in a 1996 gold Ford Aerostar and may be changing the license plate on the vehicle.
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Authorities are looking for 2-year-old Dakota Ray, and her parents, William and Jessica Ray. She is 5 feet 2 inches tall, weighs 112 pounds and had long light brown hair and blue eyes.
"William is described as 6'11" tall, 340 lbs. with light brown hair and brown eyes.
Jessica is 36 years old.
William is 44 years old.
Authorities believe that William and Jessica have no ties to the area. The incident report says that William had convinced the uncle that DSS was going to relinquish custody of the child back to William.
Anyone with information is asked to contact 911, Camden, S.C., police department at 803-425-6025 or the National Center for Missing & Exploited Children at 800-THE-LOST (800-843-5678).