The volatile flavor profiles and sensory properties of different vegetable soybean varieties popularized and cultivated in China for 20, 10, and 2 years (TW292, X3, and SX6, respectively) were investigated. Nutrient composition analysis revealed that TW292 had a high soluble protein and soluble sugar content but low fat content. The total free amino acid content (15.43 mg/g) and umami free amino acid content (6.08 mg/g) of SX6 were significantly higher (p < 0.05) than those of the other varieties. An electronic tongue effectively differentiated between the umami and sweetness characteristics of the vegetable soybeans. Differences in sensory evaluation results were mainly reflected in texture and taste. A total of 41 volatile compounds were identified through HS-SPME-GC-MS, and the main flavor compounds were 1-octen-3-ol, hexanal, (Z)-2-heptenal, 2-octene, nonanal, (Z)-2-decenal, and 3,5-octadien-2-one. However, the volatile composition of different vegetable soybean varieties exhibited large variability in type and relative contents. Considerable differences in nutritional, organoleptic, and aroma characteristics were found among different varieties. The results of this study will provide a good basis for the assessment and application of the major vegetable soybean varieties grown in China.