What D'Lanor said, plus:
You mostly don't even have to do Vertex Painting by hand - Blender can do this for you, taking the currently available lights into account.
How it works:
Assume you have an object which currently does NOT already have a Vertex Color layer.
When you create a new Vertex Color layer (under Editing(F9) => Mesh), so when you click the New button there, Blender calculates the current shading, based on:
a) The texture(s) applied to the object
b) The object's material color
c) The shadeless setting (which should be OFF, otherwise lamps are not taken into account)
and assigns a mixture of all three influences as the new default vertex painting for this object.
A new Vertex Color layer is also automatically created once you enter Vertex Paint mode, if there is not already one available.
The normal workflow for getting similar shading like the URU Plasma shading:
1. Select an object (in Object Mode)
2. Turn it's texture(s) OFF temporarily (Shading => Material => Texture => Uncheck) (unless you want to get the vertex colors influenced by the textures as well, e.g. to amplify its colors)
3. MAYBE set the Material Color to white temporarily (only needed if the result is too biased by the color)
(HINT: Instead of resetting the material color, it's faster to check "VCol Paint" temporarily, which will ignore the Mat.Color as well)
4. Set Shadeless to OFF (because you want the lamps do the trick)
5. Switch to Vertex Paint mode, remove the Vertex Color layer, and immeditely create a new one.
(HINT: You can also use "Set Shaded Vertex Colors" from the Paint menu in Vertex Paint mode, instead of removing the Vertex Color layer and applying a new one)
Done. Almost.
Now you may notice that Faces seem to be flat colored, and the object does not appear smooth.
Still in Vertex Paint mode and in the Editing panel, you will notice a Blur button under Paint - select this, and click once on your object - then the vertex colors get smoothed.
Finally re-enable your Material settings (Textures enable, VCol Paint disable), and of course now ENABLE Shadeless.
It should work faster if you do all objects sharing the same material in one batch - this way you have to disable / re-enable the textures, colors and Shadeless flag only once.
Do some tests with, for example, a small sphere, to get a feeling how it works. It's really easy and fast, once you got the trick.

Oh, and in case it does not work as expected:
Regions, Colliders, or other in URU normally not visible objects can BLOCK lamp sources in Blender (although this mostly happens when baking).
So it's a good advice to disable ALL renderability buttons for such region/collider objects in the outliner.
But NOT for normal objects of course, otherwise lightmap baking will fail.