At room temperature, gas happens to be a substance with a particular thermodynamic state, while vapor is a mixture of two thermodynamic phases, which are liquid phase and gaseous phase. This also implies that a vapor substance has experienced some slight changes in phases at room temperature. A gas, on the other hand, is a compressible fluid, a substance that can be compressed, and whose molecules are past each other in a steady free motion.
A substance will be a vapor when it forms a gas phase, after which the temperature is below its critical temperature. When a gas substance can co-exist with its solid-state or liquid state, it can be referred to as a vapor. Therefore, a vapor is not necessarily formed by boiling. Vapor is actually a state of gas, but gas is not the state of vapor. Vapor can easily be condensed back to a liquid state, but it will take a longer time or process to convert a real gas to liquid.