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We introduce topological vector edge solitons in a Floquet insulator, consisting of two honeycomb arrays of helical waveguides with opposite directions of rotation in a focusing nonlinear optical medium. Zigzag edges of two arrays placed in contact create a zigzag-zigzag interface between two structures with different topology. A characteristic feature of such a photonic insulator is that, in the linear limit, it simultaneously supports two topologically protected chiral edge states at the interface between the two arrays. In the presence of nonlinearity, either bright or dark scalar Floquet edge soliton can bifurcate from a linear topological edge state. Such solitons are unidirectional and are localized in both directions, along the interface due to nonlinear self-action, and across the interface as being an edge state. The presence of two edge states with equal averaged group velocities enables the existence of stable topological vector edge solitons. In our case, these are nonlinearly coupled bright and dark solitons bifurcating from different branches of the topological Floquet edge states. Here we put forward a new mathematical description of scalar and vector small-amplitude Floquet envelope solitons in the above-mentioned continuous system. Importantly for the design of future photonic devices based on Floquet edge solitons, we find that the latter can be described by nonlinear Schrodinger equations for the mode envelopes obtained by averaging over one rotation period in the evolution coordinate.