The existing methods for the generation of arbitrary vector vortex beams often involve complex optical setups or intricate fabrication methods. In this Letter, we propose a novel, to the best of our knowledge, and simplified approach for the efficient generation of vector vortex beams using a polarization-multiplexed hologram fabricated on an azo-carbazole polymer using a simple double-exposure technique. The hologram generates a vector vortex beam when simply illuminated by a collimated beam and also allows for a seamless traversal across the entire higher-order Poincaré sphere (arbitrary vortex beam generation) just by modulating the polarization of an illuminating beam.