Beamforming techniques are utilized in millimeter wave (mmWave) communication to address the inherent path loss limitation, thereby establishing and maintaining reliable connections. However, adopting standard defined beamforming approach in highly dynamic vehicular environments often incurs high beam training overheads and reduces the available airtime for communications, which is mainly due to exchanging pilot signals and exhaustive beam measurements. To this end, we present a multi-modal sensing and fusion learning framework as a potential alternative solution to reduce such overheads. In this framework, we first extract the features individually from the visual and GPS coordinates sensing modalities by modality specific encoders, and subsequently fuse the multimodal features to obtain predicted top-k beams so that the best line-of-sight links can be proactively established. To show the generalizability of the proposed framework, we perform a comprehensive experiment in four different vehicle-to-vehicle (V2V) scenarios from real-world multi-modal sensing and communication dataset. From the experiment, we observe that the proposed framework achieves up to 77.58% accuracy on predicting top-15 beams correctly, outperforms single modalities, incurs roughly as low as 2.32 dB average power loss, and considerably reduces the beam searching space overheads by 76.56% for top-15 beams with respect to standard defined approach.