First; to pose the question whether vaccinations should be mandatory is only really relevant in areas where "undervaccination" is a problem because people are refusing (voluntary) vaccination. Remember that in the developed world this is a fairly recent problem.

Second; if you ask the question for "vaccinations" in general, the obvious answer is no, as there are plenty of vaccinations which are not even relevant to most of the worlds population (very few people will ever get exposed to yellow fever, various Hepatites and cholera f.ex.), and several that aren't efficient enough to even reach herd protection.

Vaccination programs have been greatly widened in recent years, and differ a lot between countries, I am not sure there is any vaccine that really is so important that it really should be forced upon people.