I have 2001 rav4. every time i press the pedal there is sound like a beep sound. it's coming from the vaccum cylinder i think. but when i put the car in park no sounds coming from the vacuum cyli

SOURCE: melted spark plug wire

You did not say if you were overheated,also what liquid and what is meant by spark plug filled with liquid, if plug was removed from block! (antifreeze?) Check oil and if water in it you more then likely have a blown head gasket. Hot engine is what most likely caused burnt wire. They make sealers that are put in radiators to repair leaks if cost is a problem and you are comfortable using them, and if not, have head gasket replaced which can be quite costly. Mechanic can determine cause with a compression test. Other things you would be wise to consider if installing new head gasket would be changing water pump,timing belt and crankshaft seal as while as the other belts that need changing.Of course this would depend on whether you planned on keeping the vehicle and if it was worth it. You can talk with a mechanic about using a sealer if this is the problem. I know of no other liquid it could be other then antifreeze.Oil is unlikely. P.S You might want to find out where the oil leak is and correct it before you do more damage!

SOURCE: 2004 toyota rav4 does not accelerate

check fuel injector rail pressure sensor take plug off one side iff engine does not cut out change sensor

SOURCE: I have 1999 Toyota Camry CE 4 Cylinder, my water

The belt is either too tightly fixed or a bit loose.

See to that but it does not affect the running of the car in anyway.

Cheers.

SOURCE: My RAV4 stalls sometimes when driving.When in

Yes , and its a recall fault by Toyota, take it to the dealer to check if your vehicle falls within the recall warranty time. Here is the recall details you can quote to the dealer
Technical Service Bulletin, number TC002-06

SOURCE: 2006 RAV4 V6 multiple cylinder misfire, VSC, check engine and sli

You need a scanner to pull out the engine light codes.
Use a shopu manual to aid you with the diagnosis and repair.
The slip indicator and vsc light being on means these systems are not working. Once you pull the codes and do the repair and erase the codes the lights will go off.
There will be a code in there for the misfiring.
Good luck and keep me posted.