According to the idea of indirect bridge frequency identification proposed by Yang et al. [1–3], a moving vehicle can collect the vibration response of a bridge during its passage. This study develops it further and presents an advanced experimental research programme focused on short-span bridge structures. The main objective is to verify the efficiency of the vehicle–bridge interaction (VBI) method in identifying the dynamic characteristics of bridges, eliminating the need for fixed sensors. Compared to traditional bridge monitoring systems that rely on numerous fixed sensors, this approach offers clear advantages in terms of mobility, cost-effectiveness, and ease of installation. For this purpose, a specially designed single-degree-of-freedom test vehicle was developed. The vehicle was equipped with an adjustable spring system to control its natural frequency, as well as a drive unit to enable motion at various speeds. Bridge vibrations induced by the passing vehicle are captured on site and the frequency of the bridge is extracted from the response of the vehicle. This research provides new knowledge about bridge dynamics and confirms the practicality of the Vehicle Scanning Method for Structural Health Monitoring applications. This work therefore represents a significant step forward in future studies and field implementations of VBI-based indirect bridge monitoring on bridge structures.