Which programming language(s) ?
Its an interesting topic so I activated my GoogleFu. I didnt expect to find any toolkit written specifically for OpenVG.
Qt seems to have reintroduced OpenVG support in Qt5.9..
But it might only be for QtQuick.
Qt also have GLES support, in both cases you probably have to compite Qt5 yourself.
Wikipedia claims that "Cairo" ( https://www.cairographics.org/
) can use OpenVG and that both FLTK and GTK+ can use Cairo as backend. I see a lot of self compiled librarires in your future if you want to try it.
There are also small toolkits like https://github.com/vurtun/nuklear
that might work if you implement the OpenVG parts yourself.