The first two paragraphs are taken from the RAC forum.
If LPG cylinders are being used for private use, camping/caravaning, then no regulations apply, including stickers and warning signs, unless you are carrying more than 333kg. If they are being carried during the course of your work then it's the responsibility of your boss, his DGSA and the consignor to ensure that the relevant regulations are complied with.
If your going through the Channel Tunnel or any road tunnel then you'd possibly need to ask their advice on what is permitted.
A gas cylinder which is fitted on or in a caravan or motorhome comes under different regulations and generally a "gas bottle" sticker is affixed to the door or lid of the gas bottle housing, but that might be more to do with informing the owner on where and how to place the gas supply than making any kind of safety warning to the emergency services.
Whilst looking for some information, I did read on the BOC website that while being transported gas cylinders should not protrude beyond the sides or ends of a vehicle, but I presume that would apply to the larger lorry type transport. Having said that, mounting a gas bottle on some sort of carrier on the towbar could well constitute a hazard, such somebody be unfortunate enough to run into the back of you.
I do know that there are different regs regarding the storage of red (propane) and blue (butane) cylinders.
Compressed air and medical gases are usually identified with a sticker on the access point, such as the boot lid.
I must point out that I am in no way qualified (DGSA/ADR/CDG 2007) to give advice on carriage of dangerous goods by road.