Welcome aboard! How old is your battery? Our van has been the most aggressive battery eater we've owned (three in five years, which may not seem that aggressive, but we've owned 11 vehicles and our typical battery life has been 4+yrs across our experience).
A worn ignition switch could also be your issue based off of your description of being able to restart it without a jump start. We just lived through a similar experience with our '99 (147K). In our case, the van would stall at low speeds (roughly around 20mph), but would restart without issue (no tripped codes either). Operating temp didn't seem to matter, and the stalls would strike without warning. There is a recall on these, but your van may be outside of the affected range being that it is a 2001 (this is based off of your VIN). You can use your VIN on the Honda Owner Link site to check to see if your van has already had the work done. If it has, and your local dealership(s) are anything like ours, they will not cover the cost again.
This thread is also a good read about the ignition switch:
http://www.odyclub.com/forums/showthread.php?s=&threadid=29032&perpage=15&highlight=&pagenumber=3
Other potential things playing in to the issue could be your Idle Air Control Valve (IAC and/or IACV for searches here) or your Power Steering Pressure Switch (this seems less likely in your case). At least from reading threads here, those would typically throw a code or two that would actually direct you to those problem areas.
Regards