Im using tb6612fng for minisumo.The VM voltage is 12v
The VCC pin on the TB6612FNG is an input, not an output. You need to supply this pin with a voltage between 2.7V and 5.5V for the driver to work.
Also, make sure to make a ground connection between the board and whatever you are using to supply VCC and send control signals.
If you continue having trouble, please post some pictures of your setup that show all of your connections and let me know what other parts (power supplies, microcontroller, and motors) you are using the driver with.