the server could not find the metric nginx_vts_server_requests_per_second for pods

It is worth knowing that using the kube-prometheus repository, you can also install components such as Prometheus Adapter for Kubernetes Metrics APIs, so there is no need to install it separately with Helm.

I will use your hpa-prome-demo.yaml manifest file to demonstrate how to monitor nginx_vts_server_requests_total metrics.

First of all, we need to install Prometheus and Prometheus Adapter with appropriate configuration as described step by step below.

Copy the kube-prometheus repository and refer to the Kubernetes compatibility matrix in order to choose a compatible branch:

$ git clone https://github.com/prometheus-operator/kube-prometheus.git 
$ cd kube-prometheus
$ git checkout release-0.9

Install the jb, jsonnet and gojsontoyaml tools:

$ go install -a github.com/jsonnet-bundler/jsonnet-bundler/cmd/jb@latest
$ go install github.com/google/go-jsonnet/cmd/jsonnet@latest
$ go install github.com/brancz/gojsontoyaml@latest 

Uncomment the (import 'kube-prometheus/addons/custom-metrics.libsonnet') + line from the example.jsonnet file:

$ cat example.jsonnet
local kp =
  (import 'kube-prometheus/main.libsonnet') +
  // Uncomment the following imports to enable its patches
  // (import 'kube-prometheus/addons/anti-affinity.libsonnet') +
  // (import 'kube-prometheus/addons/managed-cluster.libsonnet') +
  // (import 'kube-prometheus/addons/node-ports.libsonnet') +
  // (import 'kube-prometheus/addons/static-etcd.libsonnet') +
  (import 'kube-prometheus/addons/custom-metrics.libsonnet') +          <--- This line
  // (import 'kube-prometheus/addons/external-metrics.libsonnet') +
...

Add the following rule to the ./jsonnet/kube-prometheus/addons/custom-metrics.libsonnet file in the rules+ section:

      {
        seriesQuery: "nginx_vts_server_requests_total",
        resources: {
          overrides: {
            namespace: { resource: 'namespace' },
            pod: { resource: 'pod' },
          },
        },
        name: { "matches": "^(.*)_total", "as": "${1}_per_second" },
        metricsQuery: "(sum(rate(<<.Series>>{<<.LabelMatchers>>}[1m])) by (<<.GroupBy>>))",
      },

After this update, the ./jsonnet/kube-prometheus/addons/custom-metrics.libsonnet file should look like this:
NOTE: This is not the entire file, just an important part of it.

$ cat custom-metrics.libsonnet
// Custom metrics API allows the HPA v2 to scale based on arbirary metrics.
// For more details on usage visit https://github.com/DirectXMan12/k8s-prometheus-adapter#quick-links

{
  values+:: {
    prometheusAdapter+: {
      namespace: $.values.common.namespace,
      // Rules for custom-metrics
      config+:: {
        rules+: [
          {
            seriesQuery: "nginx_vts_server_requests_total",
            resources: {
              overrides: {
                namespace: { resource: 'namespace' },
                pod: { resource: 'pod' },
              },
            },
            name: { "matches": "^(.*)_total", "as": "${1}_per_second" },
            metricsQuery: "(sum(rate(<<.Series>>{<<.LabelMatchers>>}[1m])) by (<<.GroupBy>>))",
          },
...

Use the jsonnet-bundler update functionality to update the kube-prometheus dependency:

$ jb update

Compile the manifests:

$ ./build.sh example.jsonnet

Now simply use kubectl to install Prometheus and other components as per your configuration:

$ kubectl apply --server-side -f manifests/setup
$ kubectl apply -f manifests/

After configuring Prometheus, we can deploy a sample hpa-prom-demo Deployment:
NOTE: I've deleted the annotations because I'm going to use a ServiceMonitor to describe the set of targets to be monitored by Prometheus.

$ cat hpa-prome-demo.yaml
apiVersion: apps/v1
kind: Deployment
metadata:
  name: hpa-prom-demo
spec:
  selector:
    matchLabels:
      app: nginx-server
  template:
    metadata:
      labels:
        app: nginx-server
    spec:
      containers:
      - name: nginx-demo
        image: cnych/nginx-vts:v1.0
        resources:
          limits:
            cpu: 50m
          requests:
            cpu: 50m
        ports:
        - containerPort: 80
          name: http
---
apiVersion: v1
kind: Service
metadata:
  name: hpa-prom-demo
  labels:
    app: nginx-server
spec:
  ports:
  - port: 80
    targetPort: 80
    name: http
  selector:
    app: nginx-server
  type: LoadBalancer

Next, create a ServiceMonitor that describes how to monitor our NGINX:

$ cat servicemonitor.yaml
kind: ServiceMonitor
apiVersion: monitoring.coreos.com/v1
metadata:
  name: hpa-prom-demo
  labels:
    app: nginx-server
spec:
  selector:
    matchLabels:
      app: nginx-server
  endpoints:
  - interval: 15s
    path: "/status/format/prometheus"
    port: http

After waiting some time, let's check the hpa-prom-demo logs to make sure that it is scrapped correctly:

$ kubectl get pods
NAME                            READY   STATUS    RESTARTS   AGE
hpa-prom-demo-bbb6c65bb-49jsh   1/1     Running   0          35m

$ kubectl logs -f hpa-prom-demo-bbb6c65bb-49jsh
...
10.4.0.9 - - [04/Feb/2022:09:29:17 +0000] "GET /status/format/prometheus HTTP/1.1" 200 3771 "-" "Prometheus/2.29.1" "-"
10.4.0.9 - - [04/Feb/2022:09:29:32 +0000] "GET /status/format/prometheus HTTP/1.1" 200 3771 "-" "Prometheus/2.29.1" "-"
10.4.0.9 - - [04/Feb/2022:09:29:47 +0000] "GET /status/format/prometheus HTTP/1.1" 200 3773 "-" "Prometheus/2.29.1" "-"
10.4.0.9 - - [04/Feb/2022:09:30:02 +0000] "GET /status/format/prometheus HTTP/1.1" 200 3773 "-" "Prometheus/2.29.1" "-"
10.4.0.9 - - [04/Feb/2022:09:30:17 +0000] "GET /status/format/prometheus HTTP/1.1" 200 3773 "-" "Prometheus/2.29.1" "-"
10.4.2.12 - - [04/Feb/2022:09:30:23 +0000] "GET /status/format/prometheus HTTP/1.1" 200 3773 "-" "Prometheus/2.29.1" "-"
...

Finally, we can check if our metrics work as expected:

$ kubectl get --raw "/apis/custom.metrics.k8s.io/v1beta1/" | jq . | grep -A 7 "nginx_vts_server_requests_per_second"
      "name": "pods/nginx_vts_server_requests_per_second",
      "singularName": "",
      "namespaced": true,
      "kind": "MetricValueList",
      "verbs": [
        "get"
      ]
    },
--
      "name": "namespaces/nginx_vts_server_requests_per_second",
      "singularName": "",
      "namespaced": false,
      "kind": "MetricValueList",
      "verbs": [
        "get"
      ]
    },

$ kubectl get --raw "/apis/custom.metrics.k8s.io/v1beta1/namespaces/default/pods/*/nginx_vts_server_requests_per_second" | jq .
{
  "kind": "MetricValueList",
  "apiVersion": "custom.metrics.k8s.io/v1beta1",
  "metadata": {
    "selfLink": "/apis/custom.metrics.k8s.io/v1beta1/namespaces/default/pods/%2A/nginx_vts_server_requests_per_second"
  },
  "items": [
    {
      "describedObject": {
        "kind": "Pod",
        "namespace": "default",
        "name": "hpa-prom-demo-bbb6c65bb-49jsh",
        "apiVersion": "/v1"
      },
      "metricName": "nginx_vts_server_requests_per_second",
      "timestamp": "2022-02-04T09:32:59Z",
      "value": "533m",
      "selector": null
    }
  ]
}

ENV:

1. helm install all Prometheus charts from prometheus-community https://prometheus-community.github.io/helm-chart
2. k8s cluster enabled by docker for mac

Solution:
I met the same problem, from Prometheus UI, i found it had namespace label and no pod label in metrics as below.

nginx_vts_server_requests_total{code="1xx", host="*", instance="10.1.0.19:80", job="kubernetes-service-endpoints", namespace="default", node="docker-desktop", service="hpa-prom-demo"}

I thought Prometheus may NOT use pod as a label, so i checked Prometheus config and found:

121       - action: replace
122         source_labels:
123         - __meta_kubernetes_pod_node_name
124         target_label: node

then searched https://prometheus.io/docs/prometheus/latest/configuration/configuration/ and do the similar thing as below under every __meta_kubernetes_pod_node_name i searched（ie. 2 places)

125       - action: replace
126         source_labels:
127         - __meta_kubernetes_pod_name
128         target_label: pod

after a while, the configmap reloaded, UI and API could find pod label

$ kubectl get --raw /apis/custom.metrics.k8s.io/v1beta1 | jq                                    
{
  "kind": "APIResourceList",
  "apiVersion": "v1",
  "groupVersion": "custom.metrics.k8s.io/v1beta1",
  "resources": [
    {
      "name": "pods/nginx_vts_server_requests_per_second",
      "singularName": "",
      "namespaced": true,
      "kind": "MetricValueList",
      "verbs": [
        "get"
      ]
    },
    {
      "name": "namespaces/nginx_vts_server_requests_per_second",
      "singularName": "",
      "namespaced": false,
      "kind": "MetricValueList",
      "verbs": [
        "get"
      ]
    }
  ]
}