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I think you need to apply the transformation in the reverse direction.

import tf
import tf2_geometry_msgs
from geometry_msgs.msg import TransformStamped, Vector3Stamped

v = Vector3Stamped()
v.vector.x = 23.7

t = TransformStamped()
q = tf.transformations.quaternion_inverse(tf.transformations.quaternion_from_euler(0.39, 0, 1.64))

t.transform.rotation.x = q[0]
t.transform.rotation.y = q[1]
t.transform.rotation.z = q[2]
t.transform.rotation.w = q[3]

vt = tf2_geometry_msgs.do_transform_vector3(v, t)

vt looks like this

header: 
  seq: 0
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
vector: 
  x: -1.6388182331
  y: -21.867875772
  z: 8.98889782002