The 22-year-old was alerted to the attempted break-in by a man who called at his house in Station Road, Catcliffe, to inform him that people were tampering with his van - a silver Volkswagen Caddy.
When he went to a nearby car park to investigate he was approached by a group of men brandishing weapons.
He was attacked before being bundled into the back of a car - a red Renault Clio - driven around while demands for cash were made.
They allowed him into another property but when he failed to return to their car they drove off and stole his van.
The robbers also stole the victim’s bracelet.
Detective Constable Craig Britland, of South Yorkshire Police, said: “The victim was subjected to a nasty assault before being put into the back of a car and threatened by two of the men.
“The victim was then driven from Catcliffe, through Brinsworth and back to Catcliffe when they let the victim enter another property after demanding cash from him.
“After he failed to return to the car, the men drove away from the area. They stole a bracelet from the victim and we believe one of the offenders stole the victim’s car.
“We believe the men were driving a red Renault Clio, registration number FD03 JYR.
“I appreciate that this incident happened in the middle of the night, but I would appeal to anyone who saw or heard anything suspicious in the area at around that time to get in touch.
“I would also ask that anyone who saw the Clio, or the victim’s car, which is described as a silver Volkswagen caddy van, to get in touch.
“This incident is being treated as a priority and we will be reviewing CCTV footage of the area.”
One of the robbers was white, aged 20-25, about 5ft 10ins tall with dark hair and a short beard. He is believed to have been wearing a dark coloured hooded top.
Another was white, tanned, 20-25 years old, about 6ft tall and was wearing a Puffa style jacket.
The third man was black.
Anyone with information on the incident between 11.30pm on Monday, February 29 and 12.15am the following morning should call South Yorkshire Police on 101 or Crimestoppers on 0800 555111.