There may be a better way with a Gulp specific solution, but this should work.
var gulp = require("gulp"),
concat = require("gulp-concat"),
config = require("./config");
gulp.task("build-vendor", function() {
gulp.src(config.vendorFiles.map(function(a) {return 'vendor/' + a}))
.pipe(concat("vendor.js"))
.pipe(gulp.dest("build"));
});