Optical vector vortex beams may be generated from few-mode or multi-mode optical fiber by introducing linearly or circularly polarized light into the fiber. By adjusting at least one of the polarization of the light, the incident angle of the light coupled into the fiber, and the length of the fiber, one or more vector modes supported by the fiber may be selected. The resulting output from the fiber may be a vortex beam that can be collimated and used for precise manipulation of objects on order of a micrometer or a nanometer in diameter.